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1
Ekizos, Antonis. "Dynamic stability control and human energetics". Doctoral thesis, Humboldt-Universität zu Berlin, 2018. http://dx.doi.org/10.18452/19545.
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Die Bewegungs-kontrollstrategien kontextabhängig und abhängig von unterschiedlichen Kriterien ausgewählt werden. Einerseits ist die Stabilität in den Bewegungszuständen wie der Fortbewegung ausschlaggebend für die ungestörte Ausführung bestimmter Handlungen und erfordert eine effektive Steuerung durch das zentrale Nervensystem. Andererseits wird die Bewegungsstrategieauswahl durch das zentrale Nervensystem dadurch bestimmt, dass die Energiekosten minimiert werden soll. Beide Konzepte (d.h. die Aufrechterhaltung der Stabilität und die Energiekostenminimierung) spielen eine fundamentale Rolle bei der Frage, warum sich Menschen so bewegen, wie sie es tun. Unklar ist dabei allerdings, auf welche Weise das zentrale Nervensystem beide Prinzipien gegeneinander gewichtet.
In den letzten 20 Jahren haben uns wissenschaftliche Konzepte wie die Chaostheorie oder die Theorie komplexer Systeme eine neue Herangehensweise an diese Fragen ermöglicht. Diese Arbeit untersucht die dynamische Stabilität menschlicher Fortbewegung mit Hilfe des Konzepts der Ljapunowanalyse. Als erstes wird eine methodologische Untersuchung der Verlässlichkeit des maximalen Ljapunowexponenten beim Gehen und Laufen durchgeführt (Kapitel 2). Danach wird verglichen zwischen dem Laufen unter normalen Umständen und dem darauffolgenden Laufen ohne Schuhe, wobei letzteres eine Abnahme der Stabilität nach dem Übergang zu den neuen Umständen zur Folge hat (Kapitel 3). In der letzten Untersuchung wurde ein unterschiedlich langes Training zur Verbesserung der Laufenergetik durchgeführt, in einer Gruppe nur über einen kurzen und in einer anderen Gruppe über einen etwas längeren Zeitraum (Kapitel 4). Die Ergebnisse zeigen, dass Bewegungskontrollfehler für die Energiekosten beim Laufen eine Rolle spielen können, und legen somit eine flexible Priorisierung der Bewegungskontrolle nahe.Motor control strategies are chosen in a context dependent manner, based on different criteria. On the one hand stability in dynamic conditions such as locomotion, is crucial to uninterrupted task execution and requires effective regulation by the central nervous system. On the other, minimization of the energetic cost of transport is instrumental in choosing the locomotion strategy by the central nervous system. Both these concepts, (i.e. maintaining stability and optimization of energetic cost of locomotion) have a fundamental role on how and why humans move in the way they do. However, how the human central nervous system prioritizes between the different goals is unknown. In the last 20 years, ideas from scientific paradigms such as chaos theory and complex systems have given us novel tools to approach these questions. The current thesis examines the dynamic stability during human locomotion under such an approach using the concept of Lyapunov analysis. At first a methodological examination of the reliability of the maximum Lyapunov exponent in walking and running has been conducted (chapter 2). Afterwards, an examination between the habitual running condition and after removal of footwear was conducted, exhibiting a decrease in stability following the acute transition to the new condition (chapter 3). In the last study, a training intervention aiming at improvements in running energetics was performed using a short-term and a long-term intervention group (chapter 4). The results evidence that motor control errors can have a role in the energy cost of running and thus, a flexible prioritization of the motor control output.
2
Long, Leroy L. III. "An Experiment in Human Locomotion: Energetic Cost and Energy-Optimal Gait Choice". The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1313584497.
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Vaughan, Christopher Leonard (Kit). "The biomechanics of human locomotion". Doctoral thesis, University of Cape Town, 2009. http://hdl.handle.net/11427/3491.
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Includes bibliographical references.
The thesis on CD-ROM includes Animate, GaitBib, GaitBook and GaitLab, four quick time movies which focus on the functional understanding of human gait. The CD-ROM is available at the Health Sciences Library.
4
Newman, Dava Jean. "Human locomotion and energetics in simulated partial gravity". Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/13172.
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Brown, Geoffrey L. "Nonlinear Locomotion: Mechanics, energetics, and optimality of walking in circles and other curved paths". The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1339169797.
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Browning, Raymond Clifton. "Effects of obesity on the energetics and biomechanics of human walking". Diss., Connect to online resource, 2005. http://wwwlib.umi.com/cr/colorado/fullcit?p3190374.
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Lay, Brendan y mikewood@deakin edu au. "The energetics of interlimb coordination". Deakin University. School of Health Sciences, 2003. http://tux.lib.deakin.edu.au./adt-VDU/public/adt-VDU20050902.111407.
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While the traditional dependent variables of motor skill learning are accuracy and consistency of movement outcome, there has been increasing interest in aspects of motor performance that are described as reflecting the energetics of motor behaviour. One defining characteristic of skilled motor performance is the ability to complete the task with minimum energy expenditure (Sparrow & Newell, 1998). A further consideration is that movements also have costs in terms of cognitive effort or energy. The present project extends previous work on energy expenditure and motor skill learning within a coordination dynamics framework. From the dynamic pattern perspective, a coordination pattern lowest on the 11KB model potential curve (Haken, Kelso & Bunz, 1985) is more stable and least energy is required to maintain pattern stability (Temprado, Zanone, Monno & Laurent, 1999). Two experiments investigated the learning of stable and unstable coordination patterns with high metabolic energy demand.
An experimental task was devised by positioning two cycle ergometers side-by-side, placing one foot on each, with the pedals free to move independently at any metronome-paced relative phase, Experiment 1 investigated practice-related changes to oxygen consumption, heart rate, relative phase, reaction time and muscle activation (EMG) as participants practiced anti-phase, in-phase and 90°-phase cycling. Across six practice trials metabolic energy cost reduced and AE and VE of relative phase declined. The trend in the metabolic and reaction time data and percent co-contraction of muscles was for the in-phase cycling to demonstrate the highest values, anti-phase the lowest and 90°-phase cycling in-between. It was found that anti- and in-phase cycling were both kinematically stable but anti-phase coordination revealed significantly lower metabolic energy cost. It was, therefore, postulated that of two equally stable coordination patterns, that associated with lower metabolic energy expenditure would constitute a stronger attractor.
Experiment 2 was designed to determine whether a lower or higher energy-demanding coordination pattern was a stronger attractor by scanning the attractor layout at thirty-degree intervals from 0° to 330°. The initial attractor layout revealed that in-phase was most stable and accurate, but the remaining coordination patterns were attracted to the low energy cost anti-phase cycling. In Experiment 2 only 90°-
phase cycling was practiced with a post-test attractor layout scan revealing that 90°-phase and its symmetrical partner 270°-phase had become attractors of other coordination patterns. Consistent with Experiment 1, practicing 90°-phase cycling revealed a decline in AE and VE and a reduction in metabolic and cognitive cost. Practicing 90°-phase cycling did not, however, destabilise the in-phase or anti-phase coordination patterns either kinematically or energetically.
In summary, the findings suggest that metabolic and mental energy can be considered different representations of a global energy expenditure or energetic phenomenon underlying human coordination. The hypothesis that preferred coordination patterns emerge as stable, low-energy solutions to the problem of inter-and intra-limb coordination is supported here in showing that the low-energy minimum of coordination dynamics is also an energetic minimum.
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Yamashita, Daichi. "The mechanics of human sideways locomotion". Kyoto University, 2014. http://hdl.handle.net/2433/188791.
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Kyoto University (京都大学)0048
新制・課程博士
博士(人間・環境学)
甲第18353号
人博第666号
新制||人||160(附属図書館)
25||人博||666(吉田南総合図書館)
31211
京都大学大学院人間・環境学研究科共生人間学専攻
(主査)准教授 神﨑 素樹, 教授 森谷 敏夫, 准教授 久代 恵介, 教授 小田 伸午
学位規則第4条第1項該当
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Lees, John. "Seasonal adaptations in the energetics and biomechanics of locomotion in the Svalbard rock ptarmigan (Lagopus muta hyperborea)". Thesis, University of Manchester, 2013. https://www.research.manchester.ac.uk/portal/en/theses/seasonal-adaptations-in-the-energetics-and-biomechanics-of-locomotion-in-the-svalbard-rock-ptarmigan-lagopus-muta-hyperborea(867ab906-4d06-4500-a4dc-ac6d27bc1965).html.
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One of the most striking things about many animals is that they can be defined by the ways in which they move. Moving costs metabolic energy and is a significant contributor to the daily energy balance of organisms and therefore fitness. Balancing energy needs is critically important to species inhabiting areas of limited resources. The metabolic cost of locomotion is influenced by physiological, morphological and behavioural factors that vary across species. The influence of these factors within species is less well understood. The objective of my PhD is to elucidate the potential for variation in locomotor performance, in particular the energy consumed and the biomechanics of locomotion within a species, in response to differences in season, sex, age and the nature of the terrain. The Svalbard ptarmigan (Lagopus muta hyperborea) is the only year-round avian resident of the Arctic archipelago of Svalbard. Svalbard is characterized by extreme photoperiodic and climatic conditions, with 24 hours of daylight in summer and continuous darkness in winter, when ice makes food unpredictable. As a result, ptarmigan annually gain significant fat stores, as much as doubling their body mass in winter. The consequences of such large gains in mass upon the metabolic cost and biomechanics of terrestrial locomotion are yet to be quantified. The Svalbard ptarmigan represents a unique opportunity to gain insight into avian adaptations.Using respirometry, I present evidence that winter birds are able to carry their fat stores at no metabolic cost. Using kinematic and force plate data, I show that acquiring fat results in reduced locomotor performance in terms of speed and take-off ability. As well as exhibiting phenotypic variation, male and female Svalbard ptarmigan are behaviourally very different. I present evidence that these behavioural differences are reflected in the metabolic cost of locomotion. In particular, males are both more efficient and faster than female birds during both summer and winter. I suggest that this results from sexual selection upon male locomotor performance. Furthermore, I present data demonstrating that sub-adult males experiencing their first winter possess the same metabolic and speed capabilities of adults. These data may indicate that selection for improved male locomotor performance may act upon sub-adult birds. Regardless of season, age or sex, Svalbard ptarmigan must locomote on a predominantly sloping terrain. The influence of inclines upon the metabolic cost of locomotion in birds is poorly understood. I provide evidence that at the same degree of incline, the cost of lifting 1 kg by 1 vertical metre is similar regardless of season and is therefore dictated by increased positive work. However, this cost varies according to the degree of incline and may be influenced by gait.The principal findings of the 5 first author papers presented are that behavioural, physiological and morphological variation within a species can have significant impacts upon the metabolic cost of locomotion and other aspects of locomotor performance. The potential for intraspecific differences should therefore be taken into account in future research regarding the patterns of energy expenditure in animals.
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Horner, Angela M. "Crouched Locomotion in Small Mammals: The Effects of Habitat and Aging". Ohio University / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1283529573.
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Dong, Raymond Patrick. "Energetics of Human Leg-swing: Various Cost Models, Optimal Motions, and Fits to Experiments". The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1291161175.
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Yen, Jasper Tong-Biau. "Force control during human bouncing gaits". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/43698.
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Every movement has a goal. For reaching, the goal is to move the hand to a specific location. For locomotion, however, goals for each step cycle are unclear and veiled by the automatic nature of lower limb control. What mechanical variables does the nervous system "care" about during locomotion? Abundant evidence from the biomechanics literature suggests that the force generated on the ground, or endpoint force, is an important task variable during hopping and running. Hopping and running are called bouncing gaits for the reason that the endpoint force trajectory is like that of bouncing on a pogo stick. In this work, I captured kinematics and kinetics of human bouncing gaits, and tested whether structure in the inherent step-to-step variability is consistent with control of endpoint force. I found that joint torques covary from step to step to stabilize only peak force. When two limbs are used to generate force on the ground at the same time, individual forces of the limbs are not stabilized, but the total peak force is stabilized. Moreover, passive dynamics may be exploited during forward progression. These results suggest that the number of kinetic goals is minimal, and this simple control scheme involves goals for discrete times during the gait cycle. Uncovering biomechanical goals of locomotion provides a functional context for understanding how complex joints, muscles, and neural circuits are coordinated.
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Joshi, Varun. "The Human Walking Controller: Derivation from Experiments and Applications to the Study of Human Structure Interaction". The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1542978112280872.
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Barbier, Franck. "Modélisation biomécanique du corps humain et analyse de la marche normale et pathologique : application à la rééducation". Valenciennes, 1994. https://ged.uphf.fr/nuxeo/site/esupversions/0361254a-2544-41f3-a9e2-d2ba0d309f91.
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Le travail présenté dans ce mémoire s'inscrit dans les recherches en biomécanique entreprises au sein du L. A. M. I. H. Dans le cadre de la médecine, de l'ergonomie et des transports. Deux voies complémentaires ont été développées. La première consiste à réaliser une modélisation biomécanique modulaire du corps humain, obtenue par une description originale de la structure corporelle et d'un code de calcul auto-adaptatif qui repose sur les lois de la mécanique des systèmes articulés. Cet ensemble fournit aux expérimentateurs des informations qu'ils ne peuvent ni observer ni mesurer: les forces et les couples articules. La seconde conduit tout d'abord à définir une ou plusieurs références du mouvement optimal à partir d'une analyse multi-dimensionnelle des données qui le caractérisent puis a définir une métrique permettant d'évaluer la distance entre un sujet et ces références. Ces distances sont ensuite représentées graphiquement et hiérarchiquement de façon a aider l'expérimentateur a focaliser son analyse sur les variables les plus informatives. Cette double démarche est appliquée à la problématique médicale et tente de résoudre un des problèmes rencontres par les thérapeutes qui travaillent dans le domaine de la rééducation et la réadaptation fonctionnelle: le suivi et l'évaluation de la rééducation de la marche. Enfin dans un cadre plus général, la proposition de la structure et des fonctionnalités d'un atelier dédié à l'analyse, à la simulation et à l'optimisation des mouvements est décrite
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Merienne, Hugo. "Biomécanique et énergétique de la locomotion et du transport de charge chez la fourmi". Thesis, Toulouse 3, 2019. http://www.theses.fr/2019TOU30257.
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Lors de cette thèse, nous avons étudié la locomotion chez la fourmi Messor barbarus et la manière dont celle-ci est affectée par la charge transportée. Ce travail recouvre trois aspects de la locomotion : la cinématique des pattes, la dynamique du centre de masse de la fourmi et la dépense énergétique associée à la locomotion. Nous avons porté une attention particulière à l'effet de la taille de la fourmi sur la locomotion ainsi qu'à l'effet de la masse relative de la charge transportée. Ce travail a montré que, lors de la locomotion non chargée, les petites et grosses fourmis n'ont pas le même patron locomoteur, les grosses fourmis s'ajustant au déséquilibre induit par leur tête proportionnellement plus grosse. Pour les fourmis chargées, le patron locomoteur varie peu avec la taille de la fourmi et celles-ci doivent régulièrement s'agripper au substrat avec leurs pattes arrières afin de ne pas basculer vers l'avant. Pour les fourmis non chargées, ou chargées avec de petites charges, la trajectoire du centre de masse lors de la locomotion correspond aux démarches observées chez d'autres insectes. Cependant, une charge de masse relative trop importante rend la locomotion erratique. Enfin, nous avons mesuré le taux métabolique pour différentes fourmis non chargées et chargées avec des charges de masses variables. Les variations du taux métabolique sont cohérentes avec les résultats de la littérature sur d'autres espèces de fourmis. Grâce à ces expériences, nous avons pu calculer le taux auquel les fourmis ramènent de l'énergie à la colonie en fonction de leur masse et de la masse de la graine transportée. Afin de maximiser ce taux, les petites fourmis ont intérêt à récolter de petites graines, alors que les plus grosses fourmis devraient transporter des graines plus lourdes. Les résultats obtenus durant cette thèse permettront de contribuer à une meilleure compréhension de la division du travail, de l'écologie et du comportement d'approvisionnement chez l'espèce Messor barbarusLoad transport is rarely observed in animals. In this respect, ants probably display the most outstanding performances: they are indeed able to carry loads weighing up to ten times their own mass over dozens of meters. During this thesis, we studied ant locomotion and how it was affected by load transport. We investigated three aspects of locomotion: leg kinematics, center of mass dynamics and energetic expenditure associated with locomotion. We especially looked into the effect of ant mass on load transport. Indeed, the polymorphism of the worker caste of the ant species we studied, Messor barbarus, is characterized by allometric relationships, which implies that locomotion and/or load transport could be different for workers of different sizes. We also examined the effect of different relative mass of the loads carried. We found that big ants have a different locomotor pattern than small ants, probably because they have to compensate for the imbalance caused by their relatively bigger head. During load transport, the locomotor pattern does not change much for ants of different sizes and loaded ants often have to cling to the substrate in order to avoid falling off. For unloaded ants, the dynamics of the ant center of mass is similar to what has already been reported for other insects in the literature: the ant locomotion is well described by a bouncing gait with no aerial phases. This gait is hardly altered for small items. For bigger items however, the locomotion becomes erratic and does not follow a periodic pattern across consecutive strides. Finally, we measured the metabolic rates of ants of different sizes when unloaded and when loaded with loads of varying mass. The changes of the metabolic rate with temperature, ant mass, activity and load transport is coherent with previous experiments on other ant species. From these experiments, we computed the rate of food intake for which ants increase the energetic content of the colony. The function maximizing this rate predicts that optimal foraging would occur if small ants carry small seeds and big ants, big seeds. The results of this work will help to better understand the division of labor and the foraging ecology of Messor barbarus and could give new insights for the design of biomimetic hexapodal robots
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Webber, James T. y David A. Raichlen. "The role of plantigrady and heel-strike in the mechanics and energetics of human walking with implications for the evolution of the human foot". COMPANY OF BIOLOGISTS LTD, 2016. http://hdl.handle.net/10150/622583.
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Human bipedal locomotion is characterized by a habitual heel-strike (HS) plantigrade gait, yet the significance of walking foot-posture is not well understood. To date, researchers have not fully investigated the costs of non-heel-strike (NHS) walking. Therefore, we examined walking speed, walk-to-run transition speed, estimated locomotor costs (lower limb muscle volume activated during walking), impact transient (rapid increase in ground force at touchdown) and effective limb length (ELL) in subjects (n=14) who walked at self-selected speeds using HS and NHS gaits. HS walking increases ELL compared with NHS walking since the center of pressure translates anteriorly from heel touchdown to toe-off. NHS gaits led to decreased absolutewalking speeds (P=0.012) and walk-to-run transition speeds (P=0.0025), and increased estimated locomotor energy costs (P<0.0001) compared with HS gaits. These differences lost significance after using the dynamic similarity hypothesis to account for the effects of foot landing posture on ELL. Thus, reduced locomotor costs and increased maximum walking speeds in HS gaits are linked to the increased ELL compared with NHS gaits. However, HS walking significantly increases impact transient values at all speeds (P<0.0001). These trade-offs may be key to understanding the functional benefits of HS walking. Given the current debate over the locomotor mechanics of early hominins and the range of foot landing postures used by nonhuman apes, we suggest the consistent use of HS gaits provides key locomotor advantages to striding bipeds and may have appeared early in hominin evolution.
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Bailly, François. "Descriptive and explanatory tools for human movement and state estimation in humanoid robotics". Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30174/document.
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Le sujet principal de cette thèse est le mouvement des systèmes anthropomorphes, et plus particulièrement la locomotion bipède des humains et des robots humanoïdes. Pour caractériser et comprendre la locomotion bipède, il est instructif d'en étudier les causes, qui résident dans le contrôle et l'organisation du mouvement, et les conséquences qui en résultent, que sont le mouvement et les interactions physiques avec l'environnement. Concernant les causes, par exemple, quels sont les principes qui régissent l'organisation des ordres moteurs pour élaborer une stratégie de déplacement spécifique ? Puis, quelles grandeurs physiques pouvons-nous calculer pour décrire au mieux le mouvement résultant de ces commandes motrices ? Ces questions sont en partie abordées par la proposition d'une extension mathématique de l'approche du Uncontrolled Manifold au contrôle moteur de tâches dynamiques, puis par la présentation d'un nouveau descripteur de la locomotion anthropomorphe. En lien avec ce travail analytique vient le problème de l'estimation de l'état pour les systèmes anthropomorphes. La difficulté d'un tel problème vient du fait que les mesures apportent un bruit qui n'est pas toujours séparable des données informatives, et que l'état du système n'est pas nécessairement observable. Pour se débarrasser du bruit, des techniques de filtrage classiques peuvent être employées, mais elles sont susceptibles d'altérer le contenu des signaux d'intérêt. Pour faire face à ce problème, nous présentons une méthode récursive, basée sur le filtrage complémentaire, pour estimer la position du centre de masse et la variation du moment cinétique d'un système en contact, deux quantités centrales de la locomotion bipède. Une autre idée pour se débarrasser du bruit de mesure est de réaliser qu'il résulte en une estimation irréaliste de la dynamique du système. En exploitant les équations du mouvement, qui dictent la dynamique temporelle du système, et en estimant une trajectoire plutôt qu'un point unique, nous présentons ensuite une estimation du maximum de vraisemblance en utilisant l'algorithme de programmation différentielle dynamique pour effectuer une estimation optimale de l'état centroidal des systèmes en contact. Finalement, une réflexion pluridisciplinaire est présentée, sur le rôle fonctionnel et computationnel joué par la tête chez les animaux. La pertinence de son utilisation en robotique mobile y est discutée, pour l'estimation d'état et la perception multisensorielleThe substantive subject of this thesis is the motion of anthropomorphic systems, and more particularly the bipedal locomotion of humans and humanoid robots. To characterize and understand bipedal locomotion, it is instructive to study its motor causes and its resulting physical consequences, namely, the interactions with the environment. Concerning the causes, for instance, what are the principles that govern the organization of motor orders in humans for elaborating a specific displacement strategy? And then, which physical quantities can we compute for best describing the motion resulting from these motor orders ? These questions are in part addressed by the proposal of a mathematical extension of the Uncontrolled Manifold approach for the motor control of dynamic tasks and through the presentation of a new descriptor of anthropomorphic locomotion. In connection with this analytical work, comes the problem of state estimation in anthropomorphic systems. The difficulty of such a problem comes from the fact that the measurements carry noise which is not always separable from the informative data, and that the state of the system is not necessarily observable. To get rid of the noise, classical filtering techniques can be employed but they are likely to distort the signals. To cope with this issue, we present a recursive method, based on complementary filtering, to estimate the position of the center of mass and the angular momentum variation of the human body, two central quantities of human locomotion. Another idea to get rid of the measurements noise is to acknowledge the fact that it results in an unrealistic estimation of the motion dynamics. By exploiting the equations of motion, which dictate the temporal dynamics of the system, and by estimating a trajectory versus a single point, we then present maximum likelihood estimation using the dynamic differential programming algorithm to perform optimal centroidal state estimation for systems in contact. Finally, a multidisciplinary reflection on the functional and computational role played by the head in animals is presented. The relevance of using this solution in mobile robotics is discussed, particularly for state estimation and multisensory perception
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Toney, Megan. "Adaptation of locomotor control in able and impaired human walking". Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/54003.
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Extensive research has documented the stereotypical kinematic and kinetic patterns in healthy human walking, but we have a limited understanding of the neuromechanical control principles that contribute to their execution. Furthermore, the strategies used to adapt human walking to morphological or environmental constraints are poorly understood. After a traumatic injury, like amputation, regaining independent mobility is a primary goal of rehabilitation. Without a clear understanding of the neuromechanical principles governing locomotion, monitoring and quantitatively improving gait rehabilitation outcomes is challenging. The purpose of this doctoral work was to identify controlled variables in able and impaired human walking and to compare the control strategies used to adapt to a novel walking environment both with and without amputation.
I apply an uncontrolled manifold (UCM) analysis to test whether likely goal variables of human walking are selectively stabilized through step-to-step variability structure. I found that both able-bodied subjects and subjects with an amputation maintain consistent whole body dynamics and leg power production by exploiting inherent motor abundance. Consistent leg power production is accomplished primarily through step-to-step leg force corrections that are driven by variable timing of ankle torque production. Covariance between ankle and knee torques enable robust motor control in able-bodied individuals, but this stabilizing mechanism is absent in individuals with a transtibial amputation. This coordinated joint torque control also appears to assist able-bodied short-term adaptation, invoked by split-belt treadmill walking. However, loss of ankle motor control and distal sensory feedback due to amputation appears to limit reactive, feedback driven adaptation patterns in subjects with an amputation. Ultimately, this work highlights the role of intact distal sensorimotor function in locomotor control and adaptation. The major findings I present have substantial implications for gait rehabilitation and prosthetic design.
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Santuz, Alessandro. "Extracting muscle synergies from human steady and unsteady locomotion: methods and experiments". Doctoral thesis, Humboldt-Universität zu Berlin, 2018. http://dx.doi.org/10.18452/19351.
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Die Notwendigkeit, sich über unebene, sich ständig verändernde Gelände zu bewegen, gehört zu unserem täglichen Leben. Das zentrale Nervensystem muss daher eine erhöhte Menge an Information integrieren, um mit der Unvorhersehbarkeit äußerer Störungen zurechtkommen zu können. Die Folge dieser erhöhten Beanspruchung könnte eine flexible Kombination der modularen Organisation von Bewegungssteuerung sein. Auf Kosten der Genauigkeit der Bewegung wäre es so möglich, dass das System reagiert, indem es die Robustheit (Fähigkeit mit Fehlern umzugehen) seiner Steuerung erhöht. Jedoch sind die Strategien, die das zentrale Nervensystem zur Organisation der Bewegung verwendet, immer noch schlecht verstanden. Eine Möglichkeit besteht darin, dass Bewegungen zustande kommen durch eine kleine Anzahl linear kombinierter Aktivierungsmuster (Muskelsynergien).
Unter den verschiedenen Möglichkeiten der Bewegungsstörung sind das Weglassen von Schuhen und die Verwendung von unebenen Oberflächen zwei gebräuchliche Optionen. In einem ersten Schritt habe ich eine gründliche Analyse der Methoden durchgeführt, die nützlich sind für a) die Auswertung von raumzeitlichen Gangparametern mithilfe von Daten der plantaren Druckverteilung und b) die Extraktion von Muskelsynergien mittels nicht-negativer Matrixfaktorisierung. Anschließend habe ich die modulare Organisation von c) beschut und barfuß Laufen und d) Laufband Gehen und Laufen über ebener und unebener Oberfläche analysiert. Im Vergleich zum gestörten Zustand zeigte das Barfußlaufen eine zeitlichen Verschiebung der zeitabhängigen Muskelaktivierungspatterns (Motor Primitives) und eine Reorganisation der zeitunabhängigen Koeffizienten (Motor Modules). Zusammenfassend, konserviert Fortbewegung über unebener Oberfläche, im Vergleich zu ebener, Motor Modules, während Motor Primitives im Allgemeinen breiter werden. Diese Ergebnisse unterstützen die Idee einer erhöhten Robustheit in der motorischen Kontrolle während der instabilen Fortbewegung.The need to move over uneven, continuously changing terrains is part of our daily life. Thus, the central nervous system must integrate an augmented amount of information in order to be able to cope with the unpredictability of external disturbances. A consequence of this increased demand might be a flexible recombination of the modular organisation of movement creation and control. At the expense of motion’s accuracy, it is possible that the system responds by increasing its control’s robustness (i.e. ability to cope with errors). However, the strategies employed by the central nervous system to organise movement are still poorly understood. One possibility is that movements are constructed through a small amount of linearly combined patterns of activations, called muscle synergies. Amongst the several possibilities of perturbing locomotion, the removal of footwear and the use of uneven surfaces are two valid options. In a first step, I conducted a thorough analysis of the methodologies useful for a) the evaluation of spatiotemporal gait parameters using plantar pressure distribution data and b) the extraction of muscle synergies using non-negative matrix factorisation. Afterwards, I analysed the modular organisation of c) shod and barefoot running and d) walking and running over an even- and an uneven-surface treadmill. The modular organisation of locomotion, assessed through the extraction of muscle synergies, changed when perturbations were introduced. Compared to the shod condition, barefoot running underwent, mostly due to the different foot strike pattern, a reorganisation of the time-independent coefficients (motor modules) and a time-shift of the time-dependent muscle activation patterns (motor primitives). Uneven-surface locomotion, compared to even-surface, conserved motor modules, while motor primitives were generally wider, confirming the idea of an increased robustness in motor control during unsteady locomotion.
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Silva, Joel Ferreira da. "Padrões de propulsão para cadeiras de rodas e seus fatores de desempenho". [s.n.], 2009. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264787.
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Orientador: Franco Giuseppe DediniDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica e Instituto de Geociencias
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Resumo: O objetivo deste trabalho é propor um mecanismo alternativo para a superação de barreiras arquitetônicas do tipo rampas de até 8°. As cadeiras de rodas manuais convencionais exigem esforço muscular do usuário nos aros de propulsão, sendo muitas vezes um mecanismo ineficiente na superação destas barreiras arquitetônicas. Este mecanismo alternativo dotado de uma combinação de alavancas propulsoras e embreagem seletiva que permite o travamento das rodas traseiras da cadeira de rodas no avanço de superação de rampas e rodas livres no momento da propulsão convencional. Foi utilizado o ambiente de Working Model 3D® para a simulação da cadeira de rodas no momento da progressão da superação de rampas. A partir de uma revisão bibliográfica dos padrões de propulsão, desempenho e de mecanismos alternativos existentes, foi elaborada a proposta do presente mecanismo alternativo.
Abstract: This study aims to present a proposal of an alternative mechanism that is able to surpass architectural barriers like ramps with an inclination up to 8 degrees. The conventional manual wheelchair requires muscular effort from the user at rims of propulsion. Although this thousandyear- old mechanism of propulsion isn't efficient enough to surpass architectural barriers. This alternative mechanism, composed by a combination of propellers levers and selective clutch, allows the user to break the rear wheels when advancing ramps, and free wheels at the moment of conventional propulsion.For this study it was considered a Working Model 3D® environment to simulate the wheelchairs at the moment of progressive surpass of ramps. A bibliographical review envolving the binomial wheelchair - user, considering standards of propulsion, performance and existing alternative mechanisms, generated the proposal of this present alternative mechanism.
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Thota, Anil K. "Biomechanical Assessment of Normal and Parkinsonian Gait in the Non-human Primate During Treadmill Locomotion". Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1338821968.
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Soares, Renato José. "Análise de parâmetros biomecânicos na locomoção de crianças portadoras de pé torto congênito". Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/39/39132/tde-22042008-153406/.
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O pé torto congênito idiopático é a deformidade congênita de maior prevalência na ortopedia. Estudos da locomoção podem favorecer condutas na reabilitação de crianças com tal disfunção. Neste trabalho foram analisados parâmetros biomecânicos da marcha e do salto vertical com contra-movimento, além do estudo do limiar de percepção plantar de crianças com pé torto congênito, tratadas cirurgicamente. Para análise dos resultados, foram utilizados testes estatísticos não paramétricos. Não foram identificadas alterações na sensibilidade plantar. Apesar da semelhança das curvas médias de força, variação angular e eletromiografia, as variáveis biomecânicas mostraram diferenças. Na marcha, as crianças com pé torto mostraram maior taxa de crescimento para o primeiro pico da força vertical; no apoio médio, maiores flexão do joelho e dorsiflexão do tornozelo, e menor força vertical; na fase de propulsão, menores força ântero-posterior, segundo pico da força vertical e flexão plantar. Enquanto que as mesmas crianças mostraram na fase de preparação do salto vertical, menor dorsiflexão; na impulsão, maior flexão do joelho e menores flexão plantar, força vertical e atividade do músculo gastrocnêmio medial; e na aterrissagem, maior taxa de crescimento da força vertical, menor flexão plantar e maior flexão do joelho. O entendimento de como o sistema locomotor opera durante as atividades analisadas pode contribuir para direcionamentos relacionados com os estímulos adequados de atividades físicas para essas criançasIdiopathic clubfoot is the most prevalent congenital deformity in orthopedics. Locomotion studies in children with such a deformity can help towards better rehabilitation. The aim of this study was to analyze the gait and countermovement jump biomechanics, and to describe the perception threshold in children with congenital clubfoot who have been surgically treated. For data analysis, non-parametric statistical tests were applied. Changes in plantar sensitivity were not found. Despite similar force, kinematics, and electromyography curves along groups, it was found differences for some biomechanical variables. For gait, children with clubfoot showed higher vertical force increase to the first peak. At midstance, they showed higher knee flexion and ankle dorsiflexion, and lower vertical force. At toe off, they presented lower anterior-posterior force, second vertical force peak, and plantar flexion. For jump, during the preparation phase, they presented smaller dorsiflexion; during propulsion, they showed larger knee flexion and smaller plantar flexion, vertical force and m medial gastrocnemius activity. In landing, there was a higher vertical force growth rate, less plantar flexion, and larger knee flexion. The understanding of how the locomotion system work contributes to choose the best stimuli to be applied during physical activity for those children
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Timmis, Matthew A. "Visuomotor control of step descent : the importance of visual information from the lower visual field in regulating landing control : when descending a step from a stationary standing position or during on-going gait, is online visual information from the lower visual field important in regulating prelanding kinematic and landing mechanic variables?" Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4439.
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The majority of previous research investigating the role of vision in controlling adaptive gait has predominantly focused on over-ground walking or obstacle negotiation. Thus there is a paucity of literature investigating visuomotor control of step descent. This thesis addressed the importance of the lower visual field (lvf) in regulating step descent landing control, and determined when visual feedback is typically used in regulating landing control prior to/during step descent. When step descents were completed from a stationary starting position, with the lvf occluded or degraded, participants adapted their stepping strategy in a manner consistent with being uncertain regarding the precise location of the foot/lower leg relative to the floor. However, these changes in landing control under conditions of lvf occlusion were made without fundamentally altering stepping strategy. This suggests that participants were able to plan the general stepping strategy when only upper visual field cues were available. When lvf was occluded from either 2 or 1 step(s) prior to descending a step during on-going gait, stepping strategy was only affected when the lvf was occluded in the penultimate step. Findings suggest that lvf cues are acquired in the penultimate step/few seconds prior to descent and provide exproprioceptive information of the foot/lower leg relative to the floor which ensures landing is regulated with increased certainty. Findings also highlight the subtle role of online vision used in the latter portion of step descent to 'fine tune' landing control.
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Childers, Walter Lee. "Motor control in persons with a trans-tibial amputation during cycling". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/44910.
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Motor control of any movement task involves the integration of neural, muscular and skeletal systems. This integration must occur throughout the sensorimotor system and focus its efforts on controlling the system endpoint, e.g. the foot during locomotion. A person with a uni-lateral trans-tibial amputation has lost the foot, ankle joint, and muscles crossing those joints, hence the residuum becomes the new terminus of the motor system. The amputee must now adjust to the additional challenges of utilizing a compromised motor system as well as the challenges of controlling an external device, i.e. prosthesis, through the mechanical interface between the residuum and prosthetic socket.
The obvious physical and physiologic asymmetries between the sound and amputated limbs are also involved in strategies for locomotion involving kinematic and kinetic asymmetries (Winter&Sienko, 1988). There are many questions as to why these asymmetric locomotor strategies are selected and what factors may be influencing that strategy. Factors influencing a change in locomotor strategy could be related to 1) the central nervous system accounting for the loss of sensorimotor feedback, 2) the altered mechanics of this new human/prosthetic system, or some combination of these factors. Understanding how the human motor system adjusts to the amputation and to the addition of an external mechanical device can provide useful insight into how robust the human control system may be and to adaptations in human motor control.
This research uses a group of individuals with a uni-lateral trans-tibial amputation and a group of intact individuals using an Ankle Foot Orthosis (AFO) performing a cycling task to understand the "motor adjustments" necessary to utilize an external device for locomotion. Results of these experiments suggest 1) the motor system does account for the activation-contraction dynamics when coordinating muscle activity post amputation, 2) the motor system also changes joint kinetics and muscle activity, 3) these changes are related to control of the interface between the limb and the external device, and 4) the motor system does not alter kinetic asymmetries when kinematic asymmetries are minimized, contrary to a common practice in rehabilitation (Kapp, 2004).
Results suggest that control of the external device, i.e. prosthesis or AFO, via the interface between the limb and the device reflect "motor adjustments" made by the nervous system and may be viewed in the context of tool use. Clinical goals in rehabilitation currently focus on minimizing gait deviations whereas the clinical application of these results suggest these deviations from normal locomotion are motor adjustments necessary to control a tool, i.e. prosthesis, by the motor system. Examining amputee locomotion in the context of tool use changes the clinical paradigm from one designed to minimize deviations to one intended to understand this behavior as related to interface control of the device thereby shifting the focus to improving function of the limb/prosthesis system.
Kapp SL. (2004) Atlas amp limb def: surg pros rehab princ. 3rd ed: 385 - 394.
Winter&Sienko. (1988) J Biomech, 21: 361 - 367.
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Handford, Matthew Lawrence. "Simulating human-prosthesis interaction and informing robotic prosthesis design using metabolic optimization". The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1539707296618987.
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Fumery, Guillaume. "Biomécanique du transport collectif de charges, vers une application clinique". Thesis, Toulouse 3, 2019. http://www.theses.fr/2019TOU30003.
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Durant les 50 dernières années, de nombreuses études ont été menées sur la locomotion humaine et sur le transport de charges individuel. Même si elles apportent un cadre théorique précieux, ces études ne permettent pas de comprendre les mécanismes mis en place par les individus lorsqu'ils doivent porter un objet à plusieurs. Dans ce projet, nous nous sommes donc intéressé à l'aspect collectif du transport de charges et avons cherché à comprendre comment une dyade d'individus se déplace lorsque ceux-ci portent un objet ensemble. Pour ce faire, nous avons dans un premier temps quantifié différents paramètres locomoteurs largement étudiés en biomécanique (approche cinématique, mécanique et dynamique), chez des individus sains transportant une charge légère. Nous avons étudié les individus se déplaçant de façon isolée, puis nous avons envisagé la dyade et la charge à transporter comme un seul système. Nous avons également fait varier la complexité du transport de charges en demandant aux sujets de réaliser une seconde tâche ou en faisant varier la masse de la charge transportée. Enfin, nous avons pu réaliser une étude préliminaire sur la collaboration entre un patient polyhandicapé et un patient cérébrolésé, dans le but d'inscrire l'étude du comportement collectif dans la rééducation des personnes en situation de handicap. Les résultats principaux de cette thèse fournissent un protocole solide d'étude du transport collectif de charges. Nous avons montré que les sujets qui transportent un objet à deux se déplacent de façon aussi économique que lorsqu'ils se déplacent seuls. L'ajout d'une tâche secondaire a quant à elle entraîné une détérioration du déplacement pendulaire du système composé des individus et de la charge. Lorsque la masse de la charge augmente, le déplacement du système est affecté. Pour des charges égales à 40% du poids corporel, nos résultats ont montré une détérioration du comportement pendulaire et une diminution de l'amplitude du centre de masse du système étudié. Enfin, concernant les personnes en situation de handicap, nous avons montré que la collaboration entre deux individus souffrants de déficience intellectuelle était moins intéressante d'un point de vue rééducatif que la collaboration avec un individu sainDuring the last 50 years, a number of studies have been carried out on human locomotion and individual load carriage. Although these studies provide a valued theoretical framework, they do not allow to understand the mechanisms implemented by individuals when they have to carry collectively an object. Our project deals with the collective aspect of load carriage and attempts to understand how a dyad of individuals moves when individuals have to carry an object together. First, we measured several locomotor parameters commonly studied in biomechanics (using a kinematic, mechanical and dynamic approach) on healthy individuals carrying a light load. We studied each individual within a dyad separately and then considered the system formed by the dyad and the load. We also performed experiments where we increased the complexity of the collective load carriage task by asking individuals to perform a second task in the same time or by changing the mass of the load. Finally, in order to find an application of our experimental protocol in rehabilitation studies, we performed a preliminary study on the collective transport achieved by two patients suffering from intellectual disability. The results of this thesis allow to construct a sound study protocol of collective load carriage. We show that two subjects carrying an object together walk as economically as when they are walking separately. Achieving a second distractive task at the same time leads to the deterioration of the pendular displacement of the center of mass of the system formed by the individuals and the load they carry. The displacement of this system is also impacted when the mass of the load carried is increased. For loads equal to 40% of the body mass, our results show a deterioration of the pendular behavior and a decrease of the amplitude of the center of mass of the system. Finally, for individuals suffering from an intellectual disability, we show that the collaboration between two pathological individuals is less interesting from a rehabilitation point of view than the collaboration with a healthy individual
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Cher, Pei Hua. "Running efficiency measures and their relationship with speed". Thesis, Queensland University of Technology, 2016. https://eprints.qut.edu.au/97686/1/Pei%20Hua_Cher_Thesis.pdf.
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This thesis investigates physiological and physical efficiencies in human sub-maximal running through developing systems for improving running efficiency by providing appropriate real time feedback. Four measures cost of transport, gait variability, step frequency and gait stability were selected to determine the most efficient measure or measures to provide feedback to the runners. These measures were studied with their relation with speed in treadmill and overground conditions and considerations of their suitability for real-time feedback systems to improve efficiency in runners.
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Grenier, Jordane. "Effets des équipements de fantassin modernes sur la locomotion et la fatigue neuromusculaire du soldat déployé : simulation opérationnelle". Phd thesis, Université Jean Monnet - Saint-Etienne, 2012. http://tel.archives-ouvertes.fr/tel-00978768.
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La problématique du port de charges par l'Homme est l'objet de questionnements scientifiques depuis plus d'un siècle, notamment dans les armées où les soldats doivent remplir des objectifs opérationnels tout en emportant des équipements lourds, distribués de façon complexe autour de leur corps, et cela au cours d'efforts allant de quelques heures à plusieurs jours. Aussi, avec le développement des nouvelles technologies et l'arrivée des systèmes fantassins futurs sur le marché de la défense, cette problématique continue de se complexifier puisque la masse totale emportée tend encore à croître. Objectif général : Le but de ce travail de thèse était d'étudier l'impact biomécanique, métabolique et neuromusculaire du port d'un système fantassin moderne chez le soldat expérimenté. Plus précisément, une première recherche a été menée pour caractériser les effets aigus du port d'un tel équipement sur la biomécanique et le coût métabolique de la marche. Puis, une seconde recherche a été consacrée à l'étude des conséquences neuromusculaires et locomotrices d'une mission militaire (simulation sur le terrain) de durée " extrême " réalisée avec ce système fantassin moderne. Première partie : L'analyse de la marche sur tapis roulant dynamométrique a permis de montrer que le port du système fantassin en configurations de " combat " et de " marche d'approche " (principales configurations du théâtre militaire, représentant respectivement ~30 % et ~50 % de la masse corporelle des sujets) altérait le pattern spatio-temporel par rapport à la marche sans charge. Par ailleurs, le travail mécanique appliqué au centre de masse et le coût métabolique de la marche augmentaient parallèlement lors du port des deux configurations du système fantassin, ce qui résultait en un maintien du rendement locomoteur constant dans toutes les conditions testées. Le mécanisme de transfert d'énergie en pendule inversé (méthode Cavagna), permettant de minimiser les coûts mécanique et métabolique de transport, était également similaire dans toutes les conditions avec et sans charge. Enfin, bien que complexement organisés autour du corps du soldat, les équipements militaires n'induisaient pas d'effets mécaniques et métaboliques sensiblement plus importants que ceux rapportés lors du port de masses positionnées symétriquement autour de la taille ; ce mode de portage étant pourtant considéré comme l'un des plus optimisés, abstraction faite des techniques de portage sur la tête inadaptées au contexte militaire. Deuxième partie : La réalisation d'une mission simulée, incluant 21 h d'activités militaires sur le terrain et le port constant d'un système fantassin, résultait en une fatigue neuromusculaire (mesure des forces, électrostimulation et EMG) relativement modérée des muscles locomoteurs extenseurs du genou et fléchisseurs plantaires chez les soldats expérimentés inclus dans ce travail. Les origines de cette fatigue neuromusculaire étaient essentiellement périphériques, mais s'accompagnaient d'une fatigue subjective importante. Enfin, la réalisation de la mission, et donc la fatigue des muscles locomoteurs notamment associée à cette dernière, n'affectait pas sensiblement les paramètres mécaniques et métaboliques de la marche. Conclusion générale : Ce travail rapporte les premières données relatives aux effets biomécaniques, métaboliques et neuromusculaires du port d'un système fantassin moderne chez le soldat expérimenté, et ce par le biais d'une simulation opérationnelle visant à reproduire les conditions militaires
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Schweitzer, Pamela Branco. "Características clínico-funcionais e biomecânicas da marcha de idosos com osteoartrose de joelhos". Universidade do Estado de Santa Catarina, 2008. http://tede.udesc.br/handle/handle/405.
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This is a descriptive search that has a general objective the evaluation of the clinic-functional and dynamic of the gait in elderly with knee osteoarthrosis. The specific objectives were to verify the clinic-functional characteristic of the knee in elderly with osteoarthrosis; verify the kinetics characteristics of the gait in elderly with knee osteoarthrosis; compare the kinetic characteristics of the vertical ground reaction forces with normal parameters and identify the morphologic characteristics of the ground reaction forces curve. Twelve elderly subjects with medical knee osteoarthrosis diagnosis were intentionally chosen. The clinic-functional and kinetics variables were measured through the Q angle of the knee, active and passive flexion and extension amplitude of the knee, habitual and maximal velocity of the gait and vertical ground reaction forces. The kinetics data were collected in habitual speed with frequency of sampling of 600Hz. The data were processed through SPSS 11.0 and SAD 32 programs. The statistic used was descriptive, with average, standard deviation and coefficient of variation. Analyzing the results, the observations were that the subjects showed high intensity of the pain (8,2 ± 1,5), obesity in 5/6 of the subjects, diminution of the active and passive amplitude of the flexion and extension of the knee, decreased velocity of the gait (2,7 ± 0,43 km/h), and postural varo and valgus deviation in . of the subjects. More than these, there were a significant increase in the median support force (87% ± 0,039 BW) and a diminution of the first peak of force (96% ± 0,03 BW), second peak of force (99% ± 0,02 BW) and in body weight acceptance tax (71° ± 3,4), suggesting that the subjects of this study do not have enough muscular and ligament forces to control the flexion (shock absorber) and stabilization of the knee during the stance phase of the gait. And the pain, must be doing by chronic repetitive movement occasioned by the articular dysfunction, altered alignments and obesity that accompanying these subjects. This paper demonstrates that the objective analysis of the gait in association with the clinic-functional parameters of the knee can be used to document the gait adaptations of the subjects with knee osteoarthrosis, and to plan best therapeutics interventions.
Esta e uma pesquisa descritiva que teve como objetivo geral avaliar as alterações clínico-funcionais e dinâmicas da marcha de idosos com osteoartrose de joelho. Os objetivos específicos foram verificar as características clínico-funcionais dos joelhos de idosos com osteoartrose de joelho; verificar as características cinéticas da marcha dos idosos com osteoartrose de joelhos; comparar as características cinéticas da componente vertical da força de reação do solo da marcha de indivíduos com osteoartrose de joelho, com valores normais de referência e analisar as características morfológicas da curva da força de reação do solo. Participaram da pesquisa 12 idosos com diagnóstico médico de osteoartrose de joelhos, escolhidos de forma não probabilística intencional. As variáveis de estudo foram medidas do angulo Q do joelho, amplitude articular ativa e passiva de extensão e flexão do joelho, velocidade habitual e máxima da marcha, e forças verticais de reação do solo. Os dados cinéticos foram coletados na velocidade habitual de cada sujeito com freqüência de amostragem de 600hz. O processamento dos dados foi no programa SPSS 11.0 e SAD 32. A estatística utilizada foi a descritiva, com média, desvio padrão e coeficiente de variação. Analisando os resultados pôde-se observar que os sujeitos apresentaram alta intensidade de dor (8,2 ± 1,5), obesidade em 5/6 dos sujeitos, diminuição da amplitude ativa e passiva de movimento articular de flexão e extensão do joelho, diminuição da velocidade habitual da marcha (2,7 ± 0,43), alteração postural em varo ou valgo em ¾ dos sujeitos. Além disso, houve um significativo aumento da média da força de suporte médio (87% ± 0,039 PC) e uma diminuição do primeiro pico de força (96% ± 0,03 PC), do segundo pico de força (99% ± 0,02 PC) e da taxa de aceitação do peso (71° ± 3,4), sugerindo que os indivíduos deste estudo apresentam disfunção articular dos joelhos e não apresentam força muscular e ligamentar suficiente para controlar a flexão (amortecimento) e estabilidade do joelho durante a fase de apoio. E ainda, que a dor pode estar sendo gerada pelas cargas crônicas de movimentos repetitivos ocasionadas pela disfunção articular, alteração postural e excesso de peso que acometem estes sujeitos. Este estudo demonstra que a análise objetiva da marcha associada aos parâmetros clínico-funcionais do joelho, pode ser usada para documentar as adaptações na marcha de idosos com osteoartrose de joelhos e para o planejamento de intervenções terapêuticas mais eficazes.
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Santos, Andresa Mara de Castro. "Análise cinética de marcha de mulheres em três condições : descalça e utilizando calçados de salto baixo e salto alto". Universidade do Estado de Santa Catarina, 2007. http://tede.udesc.br/handle/handle/351.
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The purpose of this study was to analyze the ground reaction force (GRF) of women s gait, both barefoot and wearing different shoes with different heels. The attendees were 32 female volunteers who had not had histories of lesions in the lower limbs up to six months prior to the collections, with alignment of the lower limbs considered as normal and with experience in wearing high heel shoes. The three components of the gait GRF were verified with speed of 4km/h±10%, in three conditions: barefoot, shoe1 (19,93mm heel height), and shoe2 (75,25mm heel height). The kinetic variables were collected in two force plates, AMTI (Massachusetts, EUA, 1991) (frequency of 540Hz); and for speed controlling, photocells and chronometers were used. Five complete gait cycles were collected for each condition and for each volunteer. The data were acquired in the System Peak Motus 32, processed with MATLAB® 5.0 and SAD®32 softwares. The statistical treatment was composed of exploratory descriptive statistics and analysis of variance one-way ANOVA with the post-hoc test Student-Newman-Keuls (p≤ 0,05). Some statistically significant differences were found in the majority of the variables for the three conditions. The results indicate that with increased heel height, modifications occurred in the vertical component of GRF in the variables FPF, MPL, SPF, Time FPF, Time MPL, Time SPF, IFy_Impact, IFy_Prop and, mainly in RAW (Rate Acceptance Weight) among 10-20% of FPF. A more accentuated spike for the barefoot condition was also noticed, and this behavior was made evident when wearing high heel shoes and softened with low heel shoes. In the anterior-posterior component of GRF, the maximum and minimum values observed suggest larger application of force for the impact (slow down action) and of acceleration during gait with high heel shoes. In the medial-lateral component of GRF, even though considered inconsistent and of difficult interpretation, distinctions among the conditions were observed, with the biggest value of lateral impulse and the smallest value of medial impulse for the high heel shoes in comparison with the other two conditions.
O presente trabalho objetivou analisar o comportamento da força de reação do solo da marcha de mulheres descalças, com calçado de salto baixo e calçado de salto alto. Participaram do estudo 32 voluntárias que não apresentavam histórico de lesões nos membros inferiores nos seis meses anteriores às coletas, com alinhamento dos membros inferiores considerado normal e com experiência na utilização de calçados com salto alto. Foram verificadas as três componentes da FRS da marcha com velocidade de 4km/h±10%, em três condições: Descalça, Calçado1 (19,93mm de altura de salto), e Calçado2 (75,25mm de altura de salto). As variáveis cinéticas foram coletadas a partir plataformas de força extensiométricas, triaxiais, AMTI (freqüência de amostragem 540Hz). Foram coletados 5 ciclos de marcha completos para cada condição, para cada voluntária. Os dados foram adquiridos e arquivados no Sistema Peak Motus 32, sendo processados no software MATLAB® 5.0. O tratamento estatístico foi composto de estatística descritiva exploratória e análise de variância ANOVA One way, além do teste post-hoc de Student-Newman-Keuls (α≤ 0,05). Os resultados indicaram que com um aumento no salto do calçado ocorrem modificações na componente vertical de força de reação do solo nas variáveis Primeiro Pico de Força (PPF), Suporte Médio de Força (SMF), Segundo Pico de Força (SPF), intervalos de tempo de SMF e SPF; Impulso de Frenagem, Impulso de propulsão e, principalmente na Taxa de Aceitação de Peso (TAP) na região entre 10% a 20% do PPF. Notou-se também um spike acentuado para a condição descalça, sendo bastante evidente quando utilizado calçado de salto alto e suavizado para o calçado de salto baixo. Na componente ânteroposterior da FRS, os valores máximos e mínimos observados sugerem maior aplicação de força para a ação de frenagem e de aceleração da marcha durante a utilização do calçado de salto alto. A componente médio-lateral da FRS observou-se maior valor de impulso lateral e o menor valor de impulso medial para o calçado de salto alto em comparação com as outras duas condições.
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Gelat, Thierry. "Étude de l'organisation du contrôle postural en quadrupédie chez l'homme". Grenoble 1, 1996. http://www.theses.fr/1996GRE10258.
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Le but des travaux realises dans cette these etait d'etudier la finalite biomecanique des ajustements posturaux qui accompagnent le soulevement d'un membre a partir d'une posture quadrupedique chez l'homme. En quadrupedique horizontale, les resultats montraient que les variations de force des membres restant en appui precedaient le debut du mouvement, mettant en evidence la presence d'ajustements posturaux anticipateurs (apa). L'analyse biomecanique des apa montrait que l'excursion initiale du centre des pressions (cp) etait a l'origine de conditions dynamiques permettant d'ajuster la position du centre de gravite (cg) aux contraintes representees par le maintien de l'equilibre. La deuxieme partie de l'etude avait pour but de comparer les reponses posturales associees au soulevement d'une jambe a partir d'une posture, soit bipedique, soit quadrupedique verticale. A l'equilibre, il existe une difference majeure entre les deux postures: la position du cp et la projection du cg peuvent etre differentes en quadrupedie. Au cours du mouvement, des apa etaient presents dans les deux situations. Les resultats montraient que la duree et l'amplitude des phenomenes dynamiques anticipateurs etaient dependants de la difference entre les positions initiale et finale du cg. En quadrupedie, la nette diminution de la duree des apa etait due a un decalage entre les positions finales du cp et du cg, la presence de forces manuelles laterales et antero-posterieures etant alors necessaire pour maintenir l'equilibre final. Ainsi, sur l'axe lateral, l'amplitude du deplacement du cg vers le pied d'appui entre le debut et la fin du mouvement, etait considerablement reduite par rapport a celle observee dans la condition bipedique. Sur l'axe antero-posterieur, la presence d'apa destines a s'opposer a la perturbation vers l'arriere provoquee par le mouvement n'etait plus necessaire dans la condition quadrupedique parce que l'equilibre final etait assure par des forces manuelles antero-posterieures, le cg etant alors situe en arriere du cp
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FORMENTI, Federico. "PALEO-BIOMECHANICS AND PALEO-ENERGETICS OF CROSS-COUNTRY SKIING AND ICE SKATING (3200BC TO DATE)". Doctoral thesis, 2007. http://hdl.handle.net/11562/339282.
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Questa tesi nasce dall'interesse a capire le fasi che caratterizzano la sviluppo della locomozione umana sulla neve e sul ghiaccio sin dal loro inizio. La letteratura non offre evidenza per il cambiamento nella prestazione fisica attraverso la storia e non e’ possibile formulare ipotesi ragionevoli circa l'economia di questa forma di trasporto nel passato. La tesi mira a stimare la velocità sostenibile su una serie di distanze e con l’uso di diversi sci e pattini, appartenenti a diverse epoche. Particolare attenzione è stata posta sulla comprensione dei cambiamenti nelle tecniche e tecnologiche che potrebbero determinare un miglioramento delle prestazioni, quantificato attraverso misurazioni di velocità e di costo metabolico misurazioni.
Numerosi studi hanno mostrato in dettaglio i determinanti della prestazione dello sci di fondo e del pattinaggio sul ghiaccio nelle competizioni moderne, ma in letteratura non si trovano dati sul costo della locomozione umana su neve e ghiaccio a partire dal suo inizio. Misurare il costo della sci e pattinaggio per epoche passate non solo da la possibilità di capire quali parametri gli uomini hanno identificato empiricamente come i maggiori fattori limitanti, ma darebbe anche un’idea generale dello stile di vita, mostrando come la gente si spostasse per le proprie attività quotidiane. Durante i lunghi inverni, quando spostarsi sulla neve o sul ghiaccio non era così efficace come su un terreno asciutto, le persone che abitavano le regioni del Nord sono state costrette a sviluppare strumenti per andare a caccia e in cerca di cibo. Limitare il costo (energia metabolica per unita’ di distanza percorsa) della locomozione consente di viaggiare in modo più efficiente: si puo’ coprire la stessa distanza in un tempi più brevi o raggiungere destinazioni piu’ distanti per un dato costo metabolico. Di notevole rilevanza, nelle difficili condizioni imposte dalla natura, e’ il fatto che il risparmio energetico durante il movimento avrebbe potuto essere cruciale per aumentare le possibilità di sopravvivenza degli uomini nelle regioni nordiche. I capitoli 2 e 4 mostrano come la prestazione su neve e su ghiaccio sia cambiata dal 3000 avanti Cristo circa, quando i primi sci sono stati trovati. A quanto pare, i primi esseri umani che hanno cercato di utilizzare gli sci vivevano in Scandinavia, dove forti nevicate coprivano il terreno per diversi mesi all'anno. Gli sci più antichi supportano questa ipotesi. Diversamente, i pattini da ghiaccio più antichi, risalenti circa al 2000 prima di Cristo, sono stati trovati in molte regioni europee e non possono essere ordinati cronologicamente in modo preciso. Quindi, una precisa corrispondenza tra dove e quando gli esseri umani hanno cercato di spostarsi sul ghiaccio non puo’ essere dedotta. Nel capitolo 3, cerco di mostrare come l’uso dei pattini da ghiaccio potrebbe portare ad un maggiore risparmio di energia in Finlandia piuttosto che in qualunque tra gli altri paesi in cui i pattini più antichi sono stati trovati.This thesis originated from the interest in understanding features characterizing the development of human locomotion on snow and on ice since their very beginning. No evidence could be found on how performance changed through history and there was no ground for reasonable assumptions to be made on the economy of this form of transport. The thesis aims at estimating sustainable speeds over a range of distances by adopting different ski and skate sets, belonging to subsequent epochs. Particular focus has been posed on understanding which technical and technological changes could determine an improvement in performance, quantified by means of speed and metabolic energy cost measurements. Numerous studies focused on the determinants of cross-country skiing and ice skating performance in modern competitions, but no data can be found in literature on the cost of human locomotion on snow and ice since its very beginning. Measuring the cost of skiing and skating for past epochs would not only give the opportunity to understand which parameters humans empirically identified as the greatest limiting factors, but would also give a general idea of lifestyle, showing distances people could travel for their daily activities. During the long winters, when travelling on snow or on ice was not as effective as on dry ground, people inhabiting Northern regions were forced to develop tools in order to go hunting and look for food. Limiting the cost of locomotion would allow for a more efficient travelling: humans could cover the same distance in a shorter time or reach further destinations. More importantly, in the harsh conditions imposed by nature, saving energy while moving might have been crucial in increasing survival chances. Chapters 2 and 4 will show how performance on snow and ice changed since their very beginning five thousand years ago. Apparently, the first humans trying to use skis lived in Scandinavia, where heavy snowfalls covered the ground for several months per year. The oldest skis found and dated support this hypothesis. Differently, the oldest ice skates, dating back to about 2000BC, were found in many European regions and can not be clearly ordered chronologically. Therefore, a precise correspondence between where and when humans first tried to travel on ice can not be achieved at present. In chapter 3, I try to show how using skates might lead to a greater energy saving in Finland than in any between the other countries where the oldest bone skates were found.
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Baird, Jennifer L. "The role of the upper body in human locomotion". 2012. https://scholarworks.umass.edu/dissertations/AAI3545899.
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The arms and thorax are integral parts of the human body for locomotion. However, the legs have been the focus of study in a majority of research on human walking and running. The human body functions best when all the parts work together as a cohesive unit. The overall aim of these studies was to analyze changes in arm, thorax and pelvis interactions under various manipulations, and to relate those findings to angular momentum control. Manipulations used were: gait speed, arm and thorax kinematics (removal of arm swing and reduction of axial rotation), age and mode of locomotion (walking and running). In the first study, manipulating arm swing and axial rotation led to changes in thorax-pelvis coordination and upper and lower body angular momentum that were designed to maintain angular momentum control through adapted arm swing. Walking without arm swing resulted in an increase in the range of whole-body angular momentum. This increase in angular momentum could potentially lead to problems in maintaining balance. In the second study, older adults demonstrated a smaller change than young adults did in thorax-pelvis coordination with increasing speed. However angular momentum differences were apparent at slower speeds but not faster, indicating that older adults regulate angular momentum independently of coordination, and do so differently than young adults. In the third study, walking and running locomotion modes led to a different organization of thorax-pelvis coordination and arm swing. This resulted in an inverse relationship between coordination and angular momentum regulation. The more out-of-phase coordination pattern in walking had smaller arm swing, while a more in-phase coordination pattern in running was associated with greater arm swing. In both modes of locomotion, arm swing was used to generate angular momentum to counter that of the legs. The general finding from these studies is that angular momentum is a factor of human locomotion that is regulated regardless of the degree of thorax-pelvis coordination in order to allow the momentum of the arms to counter that of the legs. This balance of angular momentum is likely important for the energetics and control of walking, and is an indirect result of the linking of upper and lower body movements. Arm swing is important for regulating angular momentum and plays a key role in countering the momentum generated by the legs.
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"Robotic Augmentation Of Human Locomotion For High Speed Running". Master's thesis, 2014. http://hdl.handle.net/2286/R.I.27481.
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abstract: Human running requires extensive training and conditioning for an individual to maintain high speeds (greater than 10mph) for an extended duration of time. Studies have shown that running at peak speeds generates a high metabolic cost due to the use of large muscle groups in the legs associated with the human gait cycle. Applying supplemental external and internal forces to the human body during the gait cycle has been shown to decrease the metabolic cost for walking, allowing individuals to carry additional weight and walk further distances. Significant research has been conducted to reduce the metabolic cost of walking, however, there are few if any documented studies that focus specifically on reducing the metabolic cost associated with high speed running. Three mechanical systems were designed to work in concert with the human user to decrease metabolic cost and increase the range and speeds at which a human can run.
The methods of design require a focus on mathematical modeling, simulations, and metabolic cost. Mathematical modeling and simulations are used to aid in the design process of robotic systems and metabolic testing is regarded as the final analysis process to determine the true effectiveness of robotic prototypes. Metabolic data, (VO2) is the volumetric consumption of oxygen, per minute, per unit mass (ml/min/kg). Metabolic testing consists of analyzing the oxygen consumption of a test subject while performing a task naturally and then comparing that data with analyzed oxygen consumption of the same task while using an assistive device.
Three devices were designed and tested to augment high speed running. The first device, AirLegs V1, is a mostly aluminum exoskeleton with two pneumatic linear actuators connecting from the lower back directly to the user's thighs, allowing the device to induce a torque on the leg by pushing and pulling on the user's thigh during running. The device also makes use of two smaller pneumatic linear actuators which drive cables connecting to small lever arms at the back of the heel, inducing a torque at the ankles. Device two, AirLegs V2, is also pneumatically powered but is considered to be a soft suit version of the first device. It uses cables to interface the forces created by actuators located vertically on the user's back. These cables then connect to the back of the user's knees resulting in greater flexibility and range of motion of the legs. Device three, a Jet Pack, produces an external force against the user's torso to propel a user forward and upward making it easier to run. Third party testing, pilot demonstrations and timed trials have demonstrated that all three of the devices effectively reduce the metabolic cost of running below that of natural running with no device.Dissertation/Thesis
Masters Thesis Engineering 2014
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Abson, Karl y Ian J. Palmer. "Motion capture: capturing interaction between human and animal". 2015. http://hdl.handle.net/10454/9106.
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NoWe introduce a new "marker-based" model for use in capturing equine movement. This model is informed by a sound biomechanical study of the animal and can be deployed in the pursuit of many undertakings. Unlike many other approaches, our method provides a high level of automation and hides the intricate biomechanical knowledge required to produce realistic results. Due to this approach, it is possible to acquire solved data with minimal manual intervention even in real-time conditions. The approach introduced can be replicated for the production of many other animals. The model is first informed by the veterinary world through studies of the subject's anatomy. Second, further medical studies aimed at understanding and addressing surface processes, inform model creation. The latter studies address items such as skin sliding. If not otherwise corrected these processes may hinder marker based capture. The resultant model has been tested in feasibility studies for practicality and subject acceptance during production. Data is provided for scrutiny along with the subject digitally captured through a variety of methods. The digital subject in mesh form as well as the motion capture model aid in comparison and show the level of accurateness achieved. The video reference and digital renders provide an insight into the level of realism achieved.
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Wahab, Yufridin. "Design and implementation of MEMS biomechanical sensors for real-life measurements of gait parameters". 2009. http://eprints.vu.edu.au/15499.
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Wahab, Yufridin. "Design and implementation of MEMS biomechanical sensors for real-life measurements of gait parameters". Thesis, 2009. https://vuir.vu.edu.au/15499/.
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Foot clearance above the ground during walking is an important clinical and rehabilitation gait analysis parameter. Current bulky and laboratory environment
based instruments are not suitable for measurement in the natural environment such as in the outdoors. This research analyses three promising distance measurement techniques (capacitive, electric field and ultrasound) that may be suitable for MEMS realization of foot clearance measurement. The study suggests that ultrasoundbased
technique is very suitable for this application and thus a model is proposed in this research. The ultrasonic transducer model is suitable for MEMS realization using
the increasingly popular Capacitive Micromachined Ultrasonic Transducer technology. The Capacitive micromachined ultrasound transducer is recently
becoming the focus of many researchers due to its high performance, in terms of electromechanical coupling factor, bandwidth, mechanical impedance and sensitivity.
An investigation into the capability of MEMS technology in the design and analysis of ultrasonic transducer is reported. The work includes an investigation into design
process, modeling and simulation. Analysis was performed on the produced transducer to investigate several key performances such as pull-in voltage,resonance frequency, electromechanical coupling factor, deflection and the resulting capacitance change.