Stair Step Research Articles

Modeling and optimization of fused deposition modeling (FDM) process through printing PLA implants using adaptive neuro-fuzzy inference system (ANFIS) model and whale optimization algorithm

Fused deposition modeling (FDM) is a widely used additive manufacturing (AM) technique for developing complex features and geometries within the shortest possible time as per customer needs. Nowadays, the customization of biomedical parts is becoming possible due to the increasing accuracy and enhanced ability of FDM machines to control the process parameters. The control on surface quality of parts produced by FDM process is of prime concern for the researchers, which are induced due to the stair steps on sloping surfaces, and needs addressing. In addition, to meet customer demands rapidly, the FDM part build time must be reduced without much compromising the strength of the parts necessary for specific applications. In the same context, this paper presents the effect and control of FDM process parameters, i.e., layer thickness, raster angle, infill density and internal structure, on surface roughness, build time and compressive strength of developed biomedical implant parts. The face-centered central composite design is employed to consummate the experimental trials, and experimental data are used to establish an adaptive neuro-fuzzy inference system (ANFIS) model for predicting the surface roughness, build time and compressive strength with respect to changes in FDM process parameters. At the end, whale optimization algorithm (WOA) has been applied to minimize surface roughness, minimize build time and maximize compressive strength simultaneously. Then, the optimal solutions obtained from WOA methodology have been compared with ANFIS predicted results. The results reveal that ANFIS-WOA methodology provides optimal combination of FDM process parameters accurately.

Stair step geometry compliance with standard specifications for safety and usability: a study of selected university buildings in Ghana

PurposeCompliance with standard specifications in stairway design and construction, particularly the step geometry, is imperative for the safety and usability of stairs. The purpose of this study, was to assess the compliance of stair step geometry parameters with standard specifications in selected public buildings in Ghana. Specifically, the study investigated the prevalence of deviations in step geometry parameters from standard provisions; how significant these deviations are in comparison, and by theoretical association, the potential risk of accidents.Design/methodology/approachField measurement of the geometric parameters of a total of 1954 steps in 204 flights of stairs within 28 university buildings was undertaken using a calibrated Multi Digit Pro + digital spirit level and a tape measure following the Nose-to-Nose Method. The results were analyzed using in Microsoft Excel 2016 and Minitab 18 and interpreted based on mean values, one-sample t-test and percentages.FindingsAlthough some parameters generally complied with standard specifications, dimensional inconsistencies in risers and treads of adjacent steps were most prevalent, and significantly at margins far above standard specifications. The findings of the study show the unique limitation of the step geometry design requirements specified in the current Ghana National Building Code and the National Building Regulation, and by association, the potential risk of accidents and discomfort in the use of stairs in public buildings such as those on university campuses.Practical implicationsThe observed deviations in the dimensions of risers and treads point to a lack of strict compliance with standard specifications in the design and construction of stairs. Apart from engaging skilled artisans, and intensifying supervision in stair construction, development control authorities in Ghana need to strengthen inspection of stairs during construction to ensure and enforce compliance.Originality/valueFindings of the study provide insight into stairway design, as well as stair safety and usability in a developing world context, and allows for a more comprehensive study of stair-related accidents and discomfort associated with stairs in public buildings as a basis for the review of standards and codes in Ghana and other developing countries.

A single one-minute, comfortable paced, stair-climbing bout reduces postprandial glucose following a mixed meal

Background and aimsPostprandial blood glucose (PBG) is an independent predictor of disease and mortality risk. To date, the shortest, single, moderate-intensity exercise intervention to reduce PBG is a 1 min bout of stair stepping during an oral glucose tolerance test. Whether this effect translates to real meal consumption is unknown. Methods and resultsSubjects (N = 30) participated in a randomized controlled crossover trial performing 0 min (seated control), 1 min, 3 min or 10 min of stair climbing and descending bouts (SCD) at a self-selected pace after consumption of a mixed meal on four separate visits. Compared to control, all SCD reduced PBG at least one timepoint: at 30-min the 3 min (−10.8 (-18.7 to −2.8) mg/dL, p = 0.010) and 10 min (−36.3 (-46.4 to −26.3) mg/dL), p < .001), and at 45-min the 1 min (−7.3 (-13.9 to −0.7) mg/dL, p = 0.030, 3 min (−8.7 (-13.9 to −3.6) mg/dL, p = 0.002 and 10 min SCD (−12.2 (-18.2 to −6.1)mg/dL, p < 0.000) reduced PBG. The area under the curve (AUC) for PBG was lower following the 3 min (−4.4% (-7.5 to −1.4%), p = 0.006) and 10 min (−8.9% (-12.4 to −5.3%), p < 0.001), while the incremental AUC (iAUC) was reduced only following the 10 min (−38.0% (-63.7 to −12.3%), p = 0.005) SCD. All SCD were rated by subjects as very light to light intensity. ConclusionsSingle, subjectively “light” intensity stair climbing and descending bouts as short as 1 min in duration attenuate the postprandial glucose response in normal weight individuals following consumption of a mixed meal. More pronounced effects require longer bouts in a dose-dependent manner.

KAJIAN TIPOLOGI KUIL HINDU TAMIL PADA BANGUNAN GRAHA KATOLIK ANNAI VELANGKANNI DI MEDAN

The aim of this research is to identify the typology of Tamil Hindu temples were used on the architectural design of Graha Katolik Annai Velangkanni. As for the results of the research are Graha Katolik Annai Velangkanni adopted a form of Dravidian Tamil Hindu typology Style located in South India, with a pyramid-shaped tower with a shrink over the stair steps. It has seven levels of the building that symbolizes perfection and seven heavens, as well as three dome that symbolizes to Holy Trinity. One of the uniqueness in adopting the form of the Hindu Tamil Temple is in the zone of the altar (2nd floor), there is the opening up penetrate to the rear Tower as a place to enter the light from above so that the space feels more sacred altar with its natural lighting from the top of the tower. This typology is drawn from the concept of typology building Hindu temples namely space garbaha griha who continuously to the tower roof of vemana. The adoption of the other elements is taken from the form of animals (Peacock) and plants (Lotus, kalpataru and banana trees) where the ornaments found in the temples of Shrie Mariamman is a person (God), animals (elephants, birds) and plants (Lotus)

Spherical slicing method and its application on robotic additive manufacturing

This article presents a spherical slicing method for additive manufacturing (AM) which is used to lay additive layers on a spherical surface, thus removing the stair stepping effect, increasing structural integrity and tensile strength. A toolpath is required to guide the extruder in the three-dimensional space and deposit the material in the desired locations. These tool paths are computed using slicing algorithms. The well-established method in AM industry is the planar slicing. In this method, the Computer Aided Design model is sliced using planes and as a result, two-dimensional tool paths are formed. With the introduction of multi-axis AM machines, development of new non-planar slicing algorithms has started. In this article, a novel non-planar, spherical slicing, is introduced. In the proposed spherical slicing method, the model is sliced by spherical shells such as that of an onion. These spherical slices are then used to generate the appropriate tool paths for guiding the robotic manipulator in three-dimensional space together with the corresponding orientation to lay the spherical layers on top of the previously manufactured planar base. Results are verified by manufacturing a model using a six-axis robotic serial manipulator by fused deposition modeling.

Predicting the rate of oxygen consumption during the 3-minute constant-rate stair stepping and shuttle tests in people with COPD

BackgroundThe 3-minute constant-rate stair stepping (3-min CRSST) and constant-speed shuttle tests (3-min CSST) were developed to assess breathlessness in response to a standardized exercise stimulus. Estimating the rate of oxygen consumption (V’O2) during these tests would assist clinicians to relate the stepping/shuttle speeds that elicit breathlessness to daily physical activities with a similar metabolic demand. This study: (I) developed equations to estimate the V’O2 of these tests in people with chronic obstructive pulmonary disease (COPD); and (II) compared the newly developed and American College of Sports Medicine (ACSM) metabolic equations for estimating the V’O2 of these tests.MethodsThis study was a retrospective analysis of people with COPD who completed a 3-min CRSST (n=98) or 3-min CSST (n=69). Multivariate linear regression estimated predictors (alpha <0.05) of V’O2 to construct COPD-specific metabolic equations. The mean squared error (MSE) of the COPD-specific and ACSM equations was calculated and compared. Bland-Altman analyses evaluated level of agreement between measured and predicted V’O2 using each equation; limits of agreement (LoA) and patterns of bias were compared.ResultsStepping rate/shuttle speed and body mass were identified as significant predictors of V’O2. The MSE of the COPD-specific equations was 0.05 L·min−1 for both tests. Mean difference between measured and predicted V’O2 was 0.00 L·min−1 (95% LoA −0.46, 0.46) and 0.00 L·min−1 (95% LoA −0.44, 0.44) for the 3-min CRSST and 3-min CSST, respectively. For the ACSM metabolic equations, the MSE was 0.10 L·min−1 and 0.18 L·min−1 for the 3-min CRSST and 3-min CSST, respectively. The ACSM metabolic equations underestimated V’O2 of the 3-min CRSST by −0.18 L·min−1 (95% LoA −0.68, 0.32), and overestimated V’O2 of the 3-min CSST by 0.35 L·min−1 (95% LoA −0.14, 0.84).ConclusionsThis study presents metabolic equations to predict V’O2 of the 3-min CRSST and 3-min CSST for people with COPD that are more accurate than the ACSM metabolic equations.

Surface and morphological modification of selectively laser melted titanium lattices using a chemical post treatment

Titanium lattices produced using selective laser melting have received great interest as key elements in the development of bone substitute implants. However, as the inherent surface defects formed during the selective laser melting process are known to have a negative impact on mechanical and biological performances of the implants, it is crucial to modify the lattices at the surface level.In the following work, we investigate the use of a chemical post-treatment for the surface modification of Ti-6Al-4V lattice structures. Triply periodic minimal surfaces, a promising set of unit-cells for hard tissue engineering, have been used for the design of the specimens. Incremental polishing was conducted and the evolution of both surface and morphological properties have been reported with an increase in polishing time. The method has been successful in removing partially melted powder adhering to the surfaces within the interconnected lattice networks and reducing the stair stepping effect brought about by the manufacturing process. Morphological characteristics were found to be consistent throughout the samples, which indicates an adequate penetration of the etchant. It was found that the potential reduction in structural strength may be mitigated by oversizing the struts in the design phase of the lattices.

Design and Validation of a Minimal Complexity Algorithm for Stair Step Counting

Wearable sensors play a significant role for monitoring the functional ability of the elderly and in general, promoting active ageing. One of the relevant variables to be tracked is the number of stair steps (single stair steps) performed daily, which is more challenging than counting flight of stairs and detecting stair climbing. In this study, we proposed a minimal complexity algorithm composed of a hierarchical classifier and a linear model to estimate the number of stair steps performed during everyday activities. The algorithm was calibrated on accelerometer and barometer recordings measured using a sensor platform worn at the wrist from 20 healthy subjects. It was then tested on 10 older people, specifically enrolled for the study. The algorithm was then compared with other three state-of-the-art methods, which used the accelerometer, the barometer or both. The experiments showed the good performance of our algorithm (stair step counting error: 13.8%), comparable with the best state-of-the-art (p &gt; 0.05), but using a lower computational load and model complexity. Finally, the algorithm was successfully implemented in a low-power smartwatch prototype with a memory footprint of about 4 kB.

Three-Dimensional Printing of Continuous Flax Fiber-Reinforced Thermoplastic Composites by Five-Axis Machine.

A method for printing continuous flax fiber-reinforced plastic (CFFRP) composite parts by five-axis three-dimensional (3D) printer, based on fused filament fabrication (FFF) technology, has been developed. FFF printed parts usually need supporting structures, have a stair step effect, and unfavorable mechanical properties. In order to address these deficiencies, continuous natural fiber prepreg filaments were first manufactured, followed by curved path planning for the model for generation of the G-code, and finally printed by a five-axis 3D printer. The surface quality of printed parts was greatly improved. The tensile strength and modulus of CFFRP increased by 89% and 73%, respectively, compared with polylactic acid (PLA) filaments. The flexural strength and modulus of the 3D-printed CFFRP specimens increased by 211% and 224%, respectively, compared with PLA specimens. The maximal curved bending force load and stiffness of the 3D-printed CFFRP specimens increased by 39% and 115%, respectively, compared with the flat slicing method. Advanced light structures, such as leaf springs, can be designed and manufactured by taking advantage of the favorable properties of these composites, which endow them with significant potential for application in the field of automobiles.

3D Printing Method of Spatial Curved Surface by Continuous Natural Fiber Reinforced Composite

A method for printing continuous flax fiber-reinforced plastic (CFFRP) composites parts by five-axis three-dimensional (3D) printer based on fused deposition modelling (FDM) technology has been developed. FDM printed parts usually need supporting structures, have stair step effect, and unfavorable mechanical properties. In order to address these deficiencies, continuous natural fiber prepreg filaments were first manufactured, followed by curved path planning for the model for generating the G-code, and finally printed by five-axis 3D printer. The surface quality of printed parts had been greatly improved. The compressive strength and modulus of the 3D-printed CFFRP specimens increased by 29% and 522% respectively, compared with planar slicing method.

3D PIC-MCC simulation of corona discharge in needle-plate electrode with external circuit

This paper investigates the external circuit effect in corona discharge by means of numerical simulation, while the effect is usually disregarded in previous plasma simulations. A general numerical solution method of serial external circuit, which can compute surface charges on any shape of electrodes adaptively and solve electrode potential and circuit current simultaneously, is developed to support the investigation, due to lack of theoretical solution in irregular electrode systems. Brief description and validation of the scheme are presented in section . In general, the accuracy of numerical solution improves with mesh refinement in orthogonal mesh, due to stair step approximation. Simulations are performed in our self-developed 3D PIC-MCC (particle-in-cell, Monte Carlo collision) code with photoionization and external circuit. The simulation model including recently developed photoionization model is described briefly in section . Then the simulation results in a needle-plate electrode in air, such as spatiotemporal evolution of corona discharge and waveforms of electrode voltage and circuit current, are presented. Physical mechanisms of formation of branched corona discharge and self-consistent adjustment of electrode voltage and circuit current are discussed. The waveforms of voltage and current in this simulation are generally consistent with experimental result. The external circuit has negative feedback effect on the discharge, and can adjusts electrode voltage self-consistently. The application of external circuit improves the applicability of particle simulation method to the simulation of discharge phenomenon in actual devices.

An Experimental Study on Incidental Vocabulary Acquisition: Incidental Vocabulary Acquisition in Foreign Language by Visual Literary Quotations

Depending on the power and influence of the incidental learning, some of the thematic words such as days, months, seasons, numbers, school rules are hung in coloured strips on some school or class walls in our country and recently on the school stair steps. Students are expected to see these words every day and learn the words while trying to understand the contents. Such practices are usually seen at primary or high school level, because students at higher education institutions are considered not interested in these contents due to their age. In this study, it was investigated whether a similar extra curriculum-based method had any contributions in the acquisition of vocabulary in a foreign language by taking into consideration the age and level variables at Harran University School of Foreign Languages.

Comparison of Enamel Preparations - Bevel, Chamfer and Stair Step Chamfer on Fracture Resistance of Nano Filled Resin Composites Using Bulk Pack Technique - An In Vitro Study.

AIM:To evaluate and compare the effect of enamel preparation designs bevel, chamfer and stair-step chamfer on the fracture resistance of nanocomposite.METHODS:The sample group of this study consisted of 72 non-carious permanent maxillary central incisors. The sample is divided into four groups of 18 each. Group, I control Group II bevel preparation, Group III chamfer preparation, group IV stair step chamfer preparation. After the specific preparation, each tooth is filled with nanocomposite using bulk pack technique. The teeth were subjected to fracture resistance test under Universal testing machine and then were examined under a stereomicroscope to evaluate the type of bond failure. The results were subjected to statistical analysis.RESULTS:Results of the One-Way ANOVA revealed a significant difference in the mean peak failure load values of the four different groups. (P < 0.001) Tukey’s Post-Hoc comparison test revealed that there was a significant difference in the mean peak failure load values of the bevel and chamfer preparation. But there was no significant difference between chamfer and stair-step chamfer preparation designs.CONCLUSION:Stair-step chamfer preparation demonstrated comparable values to Chamfer preparation but also involved the removal of less amount of tooth structure adjacent to the fractured edge and good esthetic technique.

Radio-propagation measurements and modeling in indoor stairwells at millimeter-wave bands

A good understanding of signal wave attenuation along a stairwell is necessary for successful wireless network planning. In this study, the propagation characteristics in indoor multi-floor stairwell environments are examined under the millimeter frequency band. An extensive signal measurement is conducted in two stairwells. These measurements provide information important for ensuring consistent radio transmission of data in such environment, which then enables immediate response during emergency operations. In these measurements, directional horn antennas for co-polarization and cross-polarization in transmitters and receivers are used for different millimeter frequencies (26, 28, 32, and 38 GHz). The feasibility of using the millimeter wave, which is suitable for indoor 5G wireless networks, in two different indoor stairwell environments is investigated. Four different models are employed for path loss investigation. Under single frequencies, the close-in free-space reference distance and floating-intercept path loss models are adopted. For multiple frequencies, the close-in free space reference distance with frequency dependent path loss exponent and alpha-beta-gamma models are applied. The measurements provide data on the received power at multi-floor stairwells through the stair steps, which are useful for path loss study. Accordingly, the path loss exponent values, standard deviations, and other parameters are obtained.

COMPARISON OF ANKLE JOINT LOAD IN DIFFERENT FOOT STRIKE STRATEGIES DURING STAIR ASCENT

The purpose of this study was to find a foot strike strategy that can reduce the ankle joint load during stair ascent by comparing the ankle joint load in two strategies of initial contact during stair ascent. Twenty young subjects performed ascending stairs with two strategies, i.e., rearfoot strike (RFS) and forefoot strike (FFS). Kinematic data was measured from 12 cameras and the ground reaction force was measured by a force plate inserted in the second step of four-step stairs. Stance phase was divided into three phase, i.e., weight acceptance, pull up, and forward continuance. Four ankle related kinetic variables were derived from the measured data, i.e., joint reaction force, moment, and the magnitude and moment arm of ground reaction force. Root-mean-square (RMS) was used as the representative value of the variables during each phase was compared between strategies. In the weight acceptance phase, FFS resulted in greater values of all four kinetic variables than RFS. For the pull-up and forward continuance phases, joint reaction force and ground reaction force were not different between strategies but joint moment and moment arm was greater for FFS than RFS. In weight acceptance phase, greater ground reaction forces and longer moment arm of FFS may have resulted from faster weight transfer to the ipsilateral foot and the more anterior location of center of pressure, respectively. Both have contributed greater joint moment of FFS. In pull-up and forward continuance phases, greater ankle moment of FFS was affected mainly by longer moment arms, which may reflect the persistent farther location of center of pressure from the ankle joint. The results suggest that RFS would be more advantageous than FFS in terms of ankle joint load.

Standardized measurement of breathlessness during exercise.

Exertional breathlessness is common and pervasive across various chronic disease populations. To accurately assess response to intervention and optimize clinical (symptom) management, detailed assessment of exertional breathlessness is imperative. This review provides an update on current approaches to assess exertional breathlessness and presents the need for individualized assessment of breathlessness standardized for the level of exertion. Breathlessness assessment tools commonly invite people to recall their breathlessness while at rest with reference to activities of daily living. To directly quantify breathlessness, however, requires assessment of the dimensions of breathlessness (e.g., sensory intensity, quality, and unpleasantness) in response to a standardized exercise stimulus. Different exercise stimuli (e.g., self-paced, incremental, and constant work rate exercise tests) have been used to elicit a breathlessness response. Self-paced (e.g., 6-min walk test) and incremental exercise tests assess exercise tolerance or endurance, and are not recommended for assessment of exertional breathlessness. Constant work rate tests, however, including recently validated 3-min constant-rate stair stepping and walking tests, standardize the exercise stimulus to enable the breathlessness response to be directly quantified and monitored over time. To adequately guide symptom management and assess intervention efficacy, clinicians and researchers should assess breathlessness with multidimensional assessment tools in response to a standardized and individualized exercise stimulus.

Array Design for the Synthesis of Stair Step Patterns Using Firefly Optimization Technique

In Array design, Pattern synthesis is one of the most critical problems in every application. Array antennas provide flexibility in Beam Shaping Methods. They involve generation conversion or shaping the fundamental radiation patterns. It can be noted from literature that conventional pattern synthesis techniques are not optimal. Resultant patterns deviate from the desired patterns in terms of side lobe in the trade-off region and high ripples in the trade in region. Given these facts, an attempt is made to synthesize the patterns in order to generate stair step radiation pattern. A state of the art algorithm namely firefly is used to design such patterns for different specified stair-step pattern. For generating different specified stair-step patterns, arrays of Dipoles, Waveguides, and Microstrip Patch antennas are used. It is found out from the convergence plots that the Array antennas with Dipole have minimum error value than the Arrays with Waveguide and Patch antenna. The results show that as the number of the elements in the arrays increases the error value is reduced for all three types of antennas.

Numerical storm surge model with higher order finite difference method of lines for the coast of Bangladesh

In this study, the method of lines (MOLs) with higher order central difference approximation method coupled with the classical fourth order Runge-Kutta (RK(4,4)) method is used in solving shallow water equations (SWEs) in Cartesian coordinates to foresee water levels associated with a storm accurately along the coast of Bangladesh. In doing so, the partial derivatives of the SWEs with respect to the space variables were discretized with 5-point central difference, as a test case, to obtain a system of ordinary differential equations with time as an independent variable for every spatial grid point, which with initial conditions were solved by the RK(4,4) method. The complex land-sea interface and bottom topographic details were incorporated closely using nested schemes. The coastal and island boundaries were rectangularized through proper stair step representation, and the storing positions of the scalar and momentum variables were specified according to the rules of structured C-grid. A stable tidal regime was made over the model domain considering the effect of the major tidal constituent, M2 along the southern open boundary of the outermost parent scheme. The Meghna River fresh water discharge was taken into account for the inner most child scheme. To take into account the dynamic interaction of tide and surge, the generated tidal regime was introduced as the initial state of the sea, and the surge was then made to come over it through computer simulation. Numerical experiments were performed with the cyclone April 1991 to simulate water levels due to tide, surge, and their interaction at different stations along the coast of Bangladesh. Our computed results were found to compare reasonable well with the limited observed data obtained from Bangladesh Inland Water Transport Authority (BIWTA) and were found to be better in comparison with the results obtained through the regular finite difference method and the 3-point central difference MOLs coupled with the RK(4,4) method with regard to the root mean square error values.

Nonhuman primate vestibuloocular reflex responses to prosthetic vestibular stimulation are robust to pulse timing errors caused by temporal discretization.

Electrical stimulation of vestibular afferent neurons to partially restore semicircular canal sensation of head rotation and the stabilizing reflexes that sensation supports has potential to effectively treat individuals disabled by bilateral vestibular hypofunction. Ideally, a vestibular implant system using this approach would be integrated with a cochlear implant, which would provide clinicians with a means to simultaneously treat loss of both vestibular and auditory sensation. Despite obvious similarities, merging these technologies poses several challenges, including stimulus pulse timing errors that arise when a system must implement a pulse frequency modulation-encoding scheme (as is used in vestibular implants to mimic normal vestibular nerve encoding of head movement) within fixed-rate continuous interleaved sampling (CIS) strategies used in cochlear implants. Pulse timing errors caused by temporal discretization inherent to CIS create stair step discontinuities of the vestibular implant's smooth mapping of head velocity to stimulus pulse frequency. In this study, we assayed electrically evoked vestibuloocular reflex responses in two rhesus macaques using both a smooth pulse frequency modulation map and a discretized map corrupted by temporal errors typical of those arising in a combined cochlear-vestibular implant. Responses were measured using three-dimensional scleral coil oculography for prosthetic electrical stimuli representing sinusoidal head velocity waveforms that varied over 50-400°/s and 0.1-5 Hz. Pulse timing errors produced negligible effects on responses across all canals in both animals, indicating that temporal discretization inherent to implementing a pulse frequency modulation-coding scheme within a cochlear implant's CIS fixed pulse timing framework need not sacrifice performance of the combined system's vestibular implant portion. NEW & NOTEWORTHY Merging a vestibular implant system with existing cochlear implant technology can provide clinicians with a means to restore both vestibular and auditory sensation. Pulse timing errors inherent to integration of pulse frequency modulation vestibular stimulation with fixed-rate, continuous interleaved sampling cochlear implant stimulation would discretize the smooth head velocity encoding of a combined device. In this study, we show these pulse timing errors produce negligible effects on electrically evoked vestibulo-ocular reflex responses in two rhesus macaques.

Dynamic stability analysis of a tracked mobile robot based on human–robot interaction

PurposeThis paper aims to provide a theoretical principle for the stability control of robot climbing stairs, autonomously based on human–robot interaction. Through this research, tracked mobile robots with human-robot interaction will be extensively used in rescue in disaster, exploration on planetary, fighting in battle, and searching for survivors in collapsed buildings.Design/methodology/approachThis paper introduces the tracked mobile robot, based on human–robot interaction, and its six moving postures. The dynamic process of climbing stairs is analyzed, and the dynamic model of the robot is proposed. The dynamic stability criterion is derived when the tracked mobile robot contacts the stairs steps in one, two and more points. A further conduction of simulation on the relationship of the traction force and bearing force vs the velocity and acceleration in the three cases was carried out.FindingsThis paper explains that the tracked mobile robot, based on human–robot interaction, can stably climb stairs so long as the velocity and acceleration satisfy the dynamic stability criterion as noted above. In addition, the experiment tests the correctness of dynamic stability analysis when the tracked mobile robot contacts the stair steps in one, two or more points.Originality/valueThis paper provides the mechanical structure and working principle of the tracked mobile robot based on human–robot interaction and proposes an identification method of dynamic stability criterion when the robot contacts the stairs steps in one, two and more points.