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The effect of a handrail was clarified by evaluating the load of leg in stepping stairs by the sum of the moments of knee and ankle. When body is supported by a handrail, the center of gravity goes backward, and the angle of shank decreases. From the result of experiment, it was proven that there was an optimum value respectively for the height and the position of a handrail. And, we made the mechanism model which can expresses the movement of each part of the body in stepping stairs, based on geometric relation.

Effect of Handrail Shape on the Load of Leg in Stepping Stairs