Biologically Inspired Stair-Climbing Mechanism With Enhanced Safety and Comfort

Abstract

Abstract. A sense of independence is critical for individuals with mobility impairments, with stair negotiation remaining one of the most demanding daily tasks. This article presents a novel track-based stair-climbing mechanism inspired by leech locomotion, designed to enhance adaptability to varying staircase geometries. The mechanism emulates leech-like motion during both ascent and descent, decomposing each maneuver into multiple segments to ensure stable posture and safety. Throughout motion, the mechanism maintains a large contact surface with the stairs, improving stability. Simulation and experimental studies validate the effectiveness of the proposed motion, particularly during transitions at the top and bottom of the staircase. Results demonstrate that the motion profile reduces abrupt movements and improves user comfort during stair-climbing operation.