Implementing Virtual Stairs on Treadmills using Torso Force Feedback

Abstract—This paper describes the simulation of stairs on a treadmill style locomotion interface using torso force feedback. The active mechanical tether of the Sarcos Treadport locomotion interface applies a specialized force profile to simulate the forces of stair walking. The biomechanics of subjects walking on real stairs versus walking under the specialized force profile were compared. It was found that the tether force was able to adjust the subject’s motion from standard slope walking towards that of stairs.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Ryan C. Hayward, John M. Hollerbach
• Keywords: ICRA 2002, Locomotion Interface, Robotics, Specialized Force Profile, Style Locomotion Interface