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Providing accessible and inclusive environments fulfils legislative obligations and creates financial benefits. Historic-listed buildings rely on heritage tourism for continued financial support. The purpose of this paper is to investigate how historic-listed buildings adapt to afford access to people with disabilities (PwD), through physical and non-physical interventions.

Using a case study approach of an historic property, research comprises of: an observational visitor survey, determining visitor demographic regarding visible disabilities; an access audit, determining current accessibility; interviews with the property’s Access Team; and desktop-based research.

The results depict the complexity, challenges and barriers in making historic buildings accessible for PwD. Through alternative training and inclusive initiatives, the findings reveal how historic buildings may support the multiplicity of individuals’ access requirements.

Further research incorporating longer surveying periods, wider demographic of interviewees and multiple case study analysis would provide richer, comparable data in understanding the intrinsic complexities involved in creating accessibility within historic buildings. The implications of this research could transcend management, conservation and adaptation of listed buildings in identifying the defined barriers and solutions to overcome them.

The originality of this paper relates to the use of alternative services creating access when physical changes are deemed “unreasonable”. A conceptual framework is developed depicting the complexity, challenges and barriers in making historic buildings accessible for PwD.

The concept of aging-in-place has gained notable significance in the last decade due to a dramatic demographic shift in global population dynamics that have considerably affected the ability of societies to adequately cater for their aging population. This paper examines some of the barriers to aging-in-place in the context of health needs, housing design and the role of retrofitting/smart home technologies in overcoming these barriers.

Using a narrative literature review approach, the authors undertook a comprehensive search of recent relevant literature focusing on five core thematic areas: health and aging, aging in place, barriers to aging in place, retrofitting and smart home technologies for successful aging in place. The authors entered appropriate keywords into interdisciplinary research databases and synthesized a coherent narrative discussing the thematic areas using the data extracted from the literature search.

There is a bidirectional relationship between aging and the home environment. Barriers to aging-in-place are mainly related to progressive decline in health, which alters the environmental needs of individuals. Appropriate building designs can significantly facilitate aging-in-place. The authors, therefore, highlight the role of retrofitting and smart home technologies as practical solutions to the challenges of the aging-in-place.

Forward planning in building design is essential to guarantee that the home environment is well adapted for the challenges of aging-in-place while also promoting healthy aging.

The paper shows the relationship between aging and the home environment and how building design considerations could enhance healthy aging-in-place.

India is a diverse country in which the development of services for children with disabilities presents many challenges. There is evidence that progress towards the provision of educational and therapeutic services has been considerable in the metropolitan cities, with reports of many examples of good and innovative practice. Rural communities are often less well served, and families living in some areas continue to face challenges when attempting to gain support for their children with disabilities. This chapter interrogates the situation for families in districts in southern and central India. The authors draw upon recent research to consider how the challenges of providing a multi-disciplinary support mechanism can be delivered to those living in these areas. Issues related to co-ordination of services, recruitment and retention of professionals and allocation of resources are considered through an examination of the socio-economic conditions confronted by families and professionals. Case study evidence from projects aimed at providing effective services are presented and discussed.

A walking assistant robot can help elderly people walk around independently, which could improve the life quality of the elderly and benefit our aging society. Ensuring the elderly person's walking comfort with such a robot is very important. At present, the majority of walking assistant robot research does not focus on this field. The purpose of this paper is to examine the requirements of comfortable walking and outline the design of a motion control algorithm for a walking assistant robot, Walkmate III, based on comfort.

During walking, the walking assistant robot should be able to capture the intent of user, guide the user and move at the same pace as the user. Usually, force or haptic interface is used to detect the user's walking intention. The motion control system then transforms the forces applied by the user into the robot's motion. By surveying the elderly people at a nursing home, the authors find that this transformation is important to the walking comfortableness and should be carefully designed. In this paper, the model of walking assisting process with such kind of walking assistant robot is derived at first. Based on this model, a new motion control algorithm is then designed.

The elderly hoped that, in all topographic conditions, only small forces were needed to drive the walker during walking. Also, good maneuverability was also very important for a walker, to offer the user comfort, which meant the walking assistant robot should be able to respond to the input forces quickly and precisely. Currently widely‐used motion control algorithms cannot satisfy all those requirements. In this paper, a new motion control algorithm is proposed, which can get a fast and precise response to the input forces and the input forces needed to drive the robot are kept at a preferred small level, so that the user will not feel tired during walking. Furthermore, by modifying, force feedback can be realized to improve the comfortableness of walking.

The availability of walking assistant robot with improved walking comfortableness might encourage a wider adoption of robotics in our daily life. It could also benefit our aging society by improving the life quality of the elderly and reducing the pressure deriving from nursing labor shortages.

This paper is of value to engineers and researchers developing walking assistant robots for the elderly people.

Aims to review the CLAWAR 2004 conference on climbing and walking robots.

Selects key papers from the conference and presents a brief outline of the research undertaken and the conclusions reached.

The CLAWAR conference covered every aspect of climbing and walking robots including design, locomotion, navigation, actuation and control, sensors, tele‐operation and tele‐presence. Researchers spoke of robots for applications ranging from de‐mining, tank inspection and building cleaning to walking aids for the disabled.

Focuses only on part of the CLAWAR 2004 conference, which featured some 120 presentations.

Climbing robots are starting to achieve practical applications such as cleaning building facades and windows.

Outlines trends in the development of climbing and walking robots.

The purpose of this paper is to describe new walking assist devices Honda is developing.

The exhibition, press release and interview are described. The features of the walking assist devices are presented.

The paper finds that Honda is developing walking assist devices for elderly and disabled people based on its expertise in autonomous walking obtained through the development of Advanced Step in Innovative Mobility.

This paper highlights the value of the walking assist devices.

Planning and control of humanoid biped walking has been an active research topic for many years. But, there is no definite answer to the question of how to practicre‐examinedally achieve speedy and stable walking in real‐time and in a changing environment. The purpose of this paper is to re‐examine the issue of planning and controlling humanoid biped walking, then to propose two new ideas.

The first idea is to treat the supporting foot of a biped to be part of the ground. In this way, there is a foot reaction force acting at a fixed virtual joint, which can be at, or below, the ankle joint. And, a new concept is come our that is named as in‐foot ZMP in contrast to the existing concept of on‐ground ZMP. The unique benefit with this new concept of in‐foot ZMP is that the ZMP control is no longer an issue because the in‐foot ZMP can be controlled so as to to be at a fixed virtual joint during a stable walking. Such a fixed virtual joint can be called a ZMP joint.

The second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking. This idea allows us to explicitly postulate the necessary and sufficient condition for achieving leg stability as well as the necessary and sufficient condition for achieving foot stability. The paper shows that the implementation of these two new ideas help realize a unified framework for task‐guided, intention‐guided, and sensor‐guided, planning and control of humanoid biped walking.

This paper first re‐examines the issue of planning and controlling humanoid biped walking, then proposes two new ideas. The first idea is to treat the supporting foot of a biped to be part of the ground. The second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking.

This paper aims to propose a novel balance-assistive control strategy for hip exoskeleton robot.

A hierarchical balance assistive controller based on the virtual stiffness model of extrapolated center of mass (XCoM) is proposed and tested by exoskeleton balance assistive control experiments.

Experiment results show that the proposed controller can accelerate the swing foot chasing XCoM and enlarge the margin of stability.

As a proof of concept, this paper shows the potential for exoskeleton to actively assist human regain balance in sagittal plane when human suffers from a forward or backward disturbing force.