Caracterização do ciclo da marcha em amputado transtibial com prótese inteligente

This work presents an application of optical fiber sensors based on Bragg gratings integrated to a transtibial prosthesis tube manufactured with a polymeric composite systrem of epoxy resin reinforced with glass fiber. The main objective of this study is to characterize the sensors applied to the gait cycle and changes in the gravity center of a transtibial amputee, trough the analysis of deformation and strengh of the transtibial prosthesis tube. For this investigation it is produced a tube of the composite material described above using the molding method of resin transfer (RTM) with four optical sensors. The prosthesis in which the original tube is replaced is classified as endoskeletal, has vacuum fitting, aluminium conector tube and carbon fiber foot cushioning. The volunteer for the tests was a man of 41 years old, 1.65 meters tall, 72 kilograms and left-handed. His amputation occurred due to trauma (surgical section is in the medial level, and was made below the left lower limb knee). He has been a transtibial prosthesis user for two years and eight months. The characterization of the optical sensors and analysis of mechanical deformation and tube resistance occurred through the gait cycle and the variation of the center of gravity of the body by the following tests: stand up, support leg without the prosthesis, support in the leg with the prosthesis, walk forward and walk backward. Besides the characterization of optical sensors during the gait cycle and the variation of the gravity center in a transtibial amputated, the results also showed a high degree of integration of the sensors in the composite and a high mechanical strength of the material.

Spatiotemporal neuromodulation therapies engaging muscle synergies improve motor control after spinal cord injury.

Electrical neuromodulation of lumbar segments improves motor control after spinal cord injury in animal models and humans. However, the physiological principles underlying the effect of this intervention remain poorly understood, which has limited the therapeutic approach to continuous stimulation applied to restricted spinal cord locations. Here we developed stimulation protocols that reproduce the natural dynamics of motoneuron activation during locomotion. For this, we computed the spatiotemporal activation pattern of muscle synergies during locomotion in healthy rats. Computer simulations identified optimal electrode locations to target each synergy through the recruitment of proprioceptive feedback circuits. This framework steered the design of spatially selective spinal implants and real-time control software that modulate extensor and flexor synergies with precise temporal resolution. Spatiotemporal neuromodulation therapies improved gait quality, weight-bearing capacity, endurance and skilled locomotion in several rodent models of spinal cord injury. These new concepts are directly translatable to strategies to improve motor control in humans.

Neural Modulation of Leg Stiffness in Response to Neuromuscular Fatigue

The spring-mass model is able to accurately represent hopping spring-like behavior (leg and joint stiffness), and leg and joint stiffness changes can reveal overall motor control responses to neural and muscular contributors of neuromuscular fatigue. By understanding leg stiffness modulation, we can determine which variables the nervous system targets to maintain motor performance and stability. The purpose of this study was to determine how neuromuscular fatigue affects hopping behavior by examining leg and joint stiffness before and after a single-leg calf raise fatiguing protocol. Post-fatigue, leg stiffness decreased for the exercised leg, but not for the non-exercised leg. Ankle and knee joint stiffness did not significantly change for either leg. This indicates that leg stiffness decreases primarily from muscular fatigue, but was not explained by ankle and knee joint stiffness. The decrease in leg stiffness may be an attempt to soften landing impact, while at the same time maintaining performance.

Variação da atividade locomotora do ermitão Clibanarius Vittatus (BOSC, 1802) em relação à dessecação, na praia dos pescadores, em São Vicente (SP), Brasil

The crustaceans activity of move about could alter in function of the environmental conditions. In the present study, this activity of the hermit crab Clibanarius vittatus was studied in dry and submerged areas of the intertidal region of Pescadores Beach in Sao Vicente (SP), Brazil. In both areas 110 animals (86 of dry and 24 of submerged area) were analyzed and C. vittatus show more activity in the submerged area than in the dry one. The low activity of locomotion presented when exposed to the air, can be due by the stress caused in function of the high temperature and desiccation.

Development of motor competence in childhood and adolescence

This dissertation aimed to investigate the development of motor competence in childhood and adolescence. As a starting point, a systematic review was conducted to investigate the instruments used for the evaluation of motor competence. This review identified a gap in the literature regarding the existence of an instrument to assess motor competence based on the three theoretical constructs (stability, locomotor, manipulative). In an attempt to fill this gap, a valid quantitative instrument was proposed. To meet this purpose, 584 children, between 6 and 14 years of age, were evaluated in nine motor tasks, three for each construct. The final instrument comprised two motor tasks for each construct (stability, locomotor, manipulative) and presented very good fit indexes. This instrument was used to analyse the motor competence behaviour by gender in different age groups, indicating that generally boys outperformed girls and both genders increased their performance across age groups. However, different motor competence growth rates appear in both genders across age groups. In addition, children with high and low motor competence were compared regarding some of their health related fitness variables. We found that, regardless of age and gender, the group with better motor proficiency always showed better results in health related fitness. We found positive moderate to high correlations between motor competence and the variables of cardiovascular fitness and muscular fitness, and an inverse correlation with body composition across the four age groups. We also found that motor competence explained 75% of the variance of the health related fitness for the total sample, with locomotion as the primary predictor. However, when analysing the four age groups, stability skills seem to play an important role in health related fitness in the transition from childhood to adolescence. In conclusion, educational and health policies should consider the development of motor competence as an essential strategy to promote healthy development throughout life.

Programa de actividades físicas recreativas para incentivar la inclusión social en personas con discapacidad intelectual en la Fundación Mensajeros de la Paz

El presente trabajo de investigación tuvo como propósito la realización de un programa de actividades físicas recreativas para personas con discapacidad intelectual de acuerdo a sus necesidades; con el objetivo de lograr un proceso de inclusión social en la comunidad, dicho estudio e investigación se realizó en un periodo de seis meses con la participación de 30 personas con discapacidad intelectual que son parte de la fundación Mensajeros de la Paz extensión Santa María de Quillosisa perteneciente al cantón Santa Isabel. Para cumplir con este propósito fue necesario en primera instancia conocer los antecedentes históricos de la discapacidad intelectual, la definición y clasificación, entender que son las actividades recreativas y que beneficios brindan a las personas con discapacidad intelectual, para finalmente diseñar un programa que contengan actividades físicas y recreativas cuyas características sean de fácil aplicación y entendimiento para estas personas. En cuanto a los resultados obtenidos con el diseño y aplicación del programa se pudo evidenciar que el 90% de las personas presentó cambios a nivel personal afectivo y social gracias a la práctica de actividades físicas recreativas permitiéndoles corregir defectos posturales y de locomoción; mejorar su estado de ánimo e integrarse al grupo que lo rodea y a la sociedad, logrando así un vínculo de pertenencia de manera recíproca tanto de la comunidad hacia estas personas, como de estas personas hacia la comunidad o la sociedad, mientras que el restante 10% no tuvo ningún cambio debido al alto grado de discapacidad intelectual que presentan.

Avaliação toxicológica da ayahuasca em ratos Wistar : comportamento e toxicidade reprodutiva em machos

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Ciências da Saúde, Programa de Pós-Graduação em Ciências da Saúde, 2016.

L’analyse biomécanique du sprint sur ergomètre non-motorisé : interaction entre les asymétries cinétiques et cinématiques lors d’un sprint de 40 verges

Au sprint 100 mètres et dans de nombreux sport de puissance, la phase d’accélération est un déterminant majeure de la performance. Toutefois, les asymétries cinétiques et cinématiques peuvent avoir une incidence sur la performance. L’objectif de cette étude était d’identifier la présence d’interaction entre différentes variables cinétiques et cinématiques angulaires aux membres inférieures (MI) d’un sprint de haute intensité sur un ergomètre non-motorisé avec résistance (NMR). Suite à une rencontre de familiarisation, 11 sujets ont exécuté des sprints de 40 verges. Les données cinétiques ont été obtenues par l’entremise de plateformes de force intégrées aux appuis de l’ergomètre NMR à 10 Hz et les données cinématiques ont été amassées à l’aide du système Optitrack et du logiciel Motive Tracker à 120Hz. Nous avons effectué un test de corrélation linéaire (Corrélation linéaire de Pearson) pour déterminer la relation entre les données cinétiques et cinématiques (p < 0,05). L’analyse des données a révélée (1) une corrélation positive entre la moyenne d’amplitude articulaire à la cheville et la moyenne des pics de puissance développés (W/kg) lors de la phase de maintien (r = 0,62), (2) une corrélation négative entre l’extension maximale moyenne (calculé à partir de l’angle de flexion le plus petit) à la hanche et la moyenne de pics de puissance développées en fin de poussée lors de la totalité et de la phase de maintien (r = -0,63 et r = -0,69 respectivement), et finalement (3) une corrélation négative entre la différence de dorsiflexion maximale à la cheville et la différence des pics de puissance développés aux MI lors du contact du pied au sol en phase de maintien ( r = -0,62). Les résultats obtenus dans cette étude permettront d’améliorer l’intervention des préparateurs physiques et la pratique des athlètes de sport de puissance en plus d’aider au développant de nouvelles technologies et outils d’entrainement complémentaire au sprint et particulièrement à la phase d’accélération.

Enhanced noradrenergic activity in the amygdala contributes to hyperarousal in an animal model of PTSD

Increased activity of the noradrenergic system in the amygdala has been suggested to contribute to the hyperarousal symptoms associated with post-traumatic stress disorder (PTSD). However, only two studies have examined the content of noradrenaline or its metabolites in the amygdala of rats previously exposed to traumatic stress showing inconsistent results. The aim of this study was to investigate the effects of an inescapable foot shock (IFS) procedure 1) on reactivity to novelty in an open-field (as an index of hyperarousal), and 2) on noradrenaline release in the amygdala during an acute stress. To test the role of noradrenaline in amygdala, we also investigated the effects of microinjections of propranolol, a β-adrenoreceptor antagonist, and clenbuterol, a β-adrenoreceptor agonist, into the amygdala of IFS and control animals. Finally, we evaluated the expression of mRNA levels of β-adrenoreceptors (β1 and β2) in the amygdala, the hippocampus and the prefrontal cortex. Male Wistar rats (3 months) were stereotaxically implanted with bilateral guide cannulae. After recovering from surgery, animals were exposed to IFS (10 shocks, 0.86 mA, and 6 seconds per shock) and seven days later either microdialysis or microinjections were performed in amygdala. Animals exposed to IFS showed a reduced locomotion compared to non-shocked animals during the first 5 minutes in the open-field. In the amygdala, IFS animals showed an enhanced increase of noradrenaline induced by stress compared to control animals. Bilateral microinjections of propranolol (0.5 μg) into the amygdala one hour before testing in the open-field normalized the decreased locomotion observed in IFS animals. On the other hand, bilateral microinjections of clenbuterol (30 ng) into the amygdala of control animals did not change the exploratory activity induced by novelty in the open field. IFS modified the mRNA expression of β1 and β2 adrenoreceptors in the prefrontal cortex and the hippocampus. These results suggest that an increased noradrenergic activity in the amygdala contributes to the expression of hyperarousal in an animal model of PTSD.

Vortex evolution in the wake of accelerating low-aspect-ratio plates and three-dimensional bodies of revolution

To find examples of effecient locomotion and manoeuvrability, one need only turn to the elegant solutions natural flyers and swimmers have converged upon. This dissertation is specifically motivated by processes of evolutionary convergence, which have led to the propulsors and body shapes in nature that exhibit strong geometric collapse over diverse scales. These body features are abstracted in the studies presented herein using low-aspect-ratio at plates and a three-dimensional body of revolution (a sphere). The highly-separated vortical wakes that develop during accelerations are systematically characterized as a function of planform shape, aspect ratio, Reynolds number, and initial boundary conditions. To this end, force measurements and time-resolved (planar) particle image velocimetry have been used throughout to quantify the instantaneous forces and vortex evolution in the wake of the bluff bodies. During rectilinear motions, the wake development for the flat plates is primarily dependent on plate aspect ratio, with edge discontinuities and curvature playing only a secondary role. Furthermore, the axisymmetric case, i.e. the circular plate, shows strong sensitivity to Reynolds number, while this sensitivity quickly diminishes with increasing aspect ratio. For rotational motions, global insensitivity to plate aspect ratio has been observed. For the sphere, it has been shown that accelerations play an important role in the mitigation of flow separation. These results - expounded upon in this dissertation - have begun to shed light on the specific vortex dynamics that may be coopted by flying and swimming species of all shapes and sizes towards efficient locomotion.

L’analyse biomécanique du sprint sur ergomètre non-motorisé : interaction entre les asymétries cinétiques et cinématiques lors d’un sprint de 40 verges

Au sprint 100 mètres et dans de nombreux sport de puissance, la phase d’accélération est un déterminant majeure de la performance. Toutefois, les asymétries cinétiques et cinématiques peuvent avoir une incidence sur la performance. L’objectif de cette étude était d’identifier la présence d’interaction entre différentes variables cinétiques et cinématiques angulaires aux membres inférieures (MI) d’un sprint de haute intensité sur un ergomètre non-motorisé avec résistance (NMR). Suite à une rencontre de familiarisation, 11 sujets ont exécuté des sprints de 40 verges. Les données cinétiques ont été obtenues par l’entremise de plateformes de force intégrées aux appuis de l’ergomètre NMR à 10 Hz et les données cinématiques ont été amassées à l’aide du système Optitrack et du logiciel Motive Tracker à 120Hz. Nous avons effectué un test de corrélation linéaire (Corrélation linéaire de Pearson) pour déterminer la relation entre les données cinétiques et cinématiques (p < 0,05). L’analyse des données a révélée (1) une corrélation positive entre la moyenne d’amplitude articulaire à la cheville et la moyenne des pics de puissance développés (W/kg) lors de la phase de maintien (r = 0,62), (2) une corrélation négative entre l’extension maximale moyenne (calculé à partir de l’angle de flexion le plus petit) à la hanche et la moyenne de pics de puissance développées en fin de poussée lors de la totalité et de la phase de maintien (r = -0,63 et r = -0,69 respectivement), et finalement (3) une corrélation négative entre la différence de dorsiflexion maximale à la cheville et la différence des pics de puissance développés aux MI lors du contact du pied au sol en phase de maintien ( r = -0,62). Les résultats obtenus dans cette étude permettront d’améliorer l’intervention des préparateurs physiques et la pratique des athlètes de sport de puissance en plus d’aider au développant de nouvelles technologies et outils d’entrainement complémentaire au sprint et particulièrement à la phase d’accélération.

The ontogeny of bipedalism: insights from the study of talar growth

The development of bipedal locomotion was gradual during evolution, and with the increase in discoveries of fossils and, in particular, in discoveries of pedal bones, the attention to this problematic has grown in the last decades. Moreover, the discoveries of juveniles fossil foot bones has led the attention to the evolution and the development of bipedal locomotion. The study of the development of human gait in children may help in shedding light to the development of human locomotion. The human talus plays a pivotal role, linking the leg to the foot and receiving and distributing the weight, while permitting a wide range of foot movements. It is also present at birth, and this makes a perfect bone to study to disentangle how the bone structure acts to cope with the changes in locomotion and body weight. Here, I analyze the external and internal morphology of the human talus from the perinatal period to adolescence, to investigate how the different phases of the acquisition of bipedal gait affect talar morphology, and how the bone copes with the weight gain during growth. Results show that the talar internal and external morphologies change in line with the different activities and loading of the foot. Initially, at around birth, the talus has a very globular and immature external shape, with a very dense trabecular architecture, composed of thin, numerous, and densely packed trabeculae, with a rather isotropic structure. External and internal morphologies change in relation to the different loading patterns which follow during growth, showing a more specialized structure, both in the external and internal morphology, linked to the maturation of bipedal locomotion, until the adult-like pattern is reached, during adolescence.

Mars delivery service - development of the electro-mechanical systems of the Sample Fetch Rover for the Mars Sample Return Campaign

This thesis describes the development of the Sample Fetch Rover (SFR), studied for Mars Sample Return (MSR), an international campaign carried out in cooperation between the National Aeronautics and Space Administration (NASA) and the European Space Agency (ESA). The focus of this document is the design of the electro-mechanical systems of the rover. After placing this work into the general context of robotic planetary exploration and summarising the state of the art for what concerns Mars rovers, the architecture of the Mars Sample Return Campaign is presented. A complete overview of the current SFR architecture is provided, touching upon all the main subsystems of the spacecraft. For each area, it is discussed what are the design drivers, the chosen solutions and whether they use heritage technology (in particular from the ExoMars Rover) or new developments. This research focuses on two topics of particular interest, due to their relevance for the mission and the novelty of their design: locomotion and sample acquisition, which are discussed in depth. The early SFR locomotion concepts are summarised, covering the initial trade-offs and discarded designs for higher traverse performance. Once a consolidated architecture was reached, the locomotion subsystem was developed further, defining the details of the suspension, actuators, deployment mechanisms and wheels. This technology is presented here in detail, including some key analysis and test results that support the design and demonstrate how it responds to the mission requirements. Another major electro-mechanical system developed as part of this work is the one dedicated to sample tube acquisition. The concept of operations of this machinery was defined to be robust against the unknown conditions that characterise the mission. The design process led to a highly automated robotic system which is described here in its main components: vision system, robotic arm and tube storage.

Impossible Space circolare per favorire la locomozione naturale

In questa relazione di tesi verrà affrontato il problema della locomozione naturale in ambienti virtuali che possiedono una grandezza maggiore dello spazio reale nel quale l'utente si muove. Negli anni sono stati sviluppati numerosi metodi di navigazione, ma tra tutti la locomozione naturale è il sistema che porta un livello di immersione maggiore nello spazio virtuale, più di qualsiasi altra tecnica. In questo lavoro di tesi verrà proposto un algoritmo in grado di favorire la locomozione naturale all'interno di lunghi spazi chiusi, andando a modificare la geometria dello spazio virtuale (che andrà ad assumere una forma circolare) e mantendendo comunque un certo grado di realismo dal punto di vista dell'utente. L'obiettivo è quello di tradurre uno spazio virtuale chiuso e lungo (caso comune: un corridoio) in una forma circolare inscritta in una stanza di 2x2m, con un approccio simile a quello degli impossible spaces, con l'obiettivo di studiare in futuro entro quale percentuale di sovrapposizione l'utente si accorge di trovarsi in una geometria impossibile. Nel primo capitolo verranno introdotti i concetti chiave di VR e AR, nonché un'introduzione all'Engine Unity e al software Blender. Nel secondo capitolo si tratterà di computer graphics, quindi si introdurranno i concetti base della grafica 3D con un focus sulla matematica alla base di ogni processo grafico. Nel terzo capitolo verrà affrontano il concetto di embodiment, quindi la percezione del proprio corpo, l'importanza dell'immersitvità dei sistemi virtuali e verrà descritto un paper precedentemente realizzato riguardante tale concetto. Nel capitolo quattro si parlerà del movimento all'interno dei sistemi di realtà virtuale, della locomozione naturale e delle tecniche per rendere tale metodo più accessibile. Nel capitolo cinque infine verrà descritto l'algoritmo realizzato e verranno mostrati i risultati.