Analyse cinétique et cinématique de la locomotion chez les enfants atteints d'un déficit moteur cérébral : comparaison de l'orthèse tibiale fixe et articulée

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Comparaison des paramètres cinématiques et cinétiques lors de la locomotion chez des enfants obèses et non-obèses

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Modulation de l'activité respiratoire par la locomotion chez la lamproie

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Contribution du cortex moteur et des afférences cutanées dans le contrôle et la plasticité de la locomotion chez le chat

Thèse numérisée par la Direction des bibliothèques de l'Université de Montréal.

A Mechanical Analysis of Suspensory Locomotion in Primates and Other Mammals

For primates, and other arboreal mammals, adopting suspensory locomotion represents one of the strategies an animal can use to prevent toppling off a thin support during arboreal movement and foraging. While numerous studies have reported the incidence of suspensory locomotion in a broad phylogenetic sample of mammals, little research has explored what mechanical transitions must occur in order for an animal to successfully adopt suspensory locomotion. Additionally, many primate species are capable of adopting a highly specialized form of suspensory locomotion referred to as arm-swinging, but few scenarios have been posited to explain how arm-swinging initially evolved. This study takes a comparative experimental approach to explore the mechanics of below branch quadrupedal locomotion in primates and other mammals to determine whether above and below branch quadrupedal locomotion represent neuromuscular mirrors of each other, and whether the patterns below branch quadrupedal locomotion are similar across taxa. Also, this study explores whether the nature of the flexible coupling between the forelimb and hindlimb observed in primates is a uniquely primate feature, and investigates the possibility that this mechanism could be responsible for the evolution of arm-swinging.

To address these research goals, kinetic, kinematic, and spatiotemporal gait variables were collected from five species of primate (Cebus capucinus, Daubentonia madagascariensis, Lemur catta, Propithecus coquereli, and Varecia variegata) walking quadrupedally above and below branches. Data from these primate species were compared to data collected from three species of non-primate mammals (Choloepus didactylus, Pteropus vampyrus, and Desmodus rotundus) and to three species of arm-swinging primate (Hylobates moloch, Ateles fusciceps, and Pygathrix nemaeus) to determine how varying forms of suspensory locomotion relate to each other and across taxa.

From the data collected in this study it is evident the specialized gait characteristics present during above branch quadrupedal locomotion in primates are not observed when walking below branches. Instead, gait mechanics closely replicate the characteristic walking patterns of non-primate mammals, with the exception that primates demonstrate an altered limb loading pattern during below branch quadrupedal locomotion, in which the forelimb becomes the primary propulsive and weight-bearing limb; a pattern similar to what is observed during arm-swinging. It is likely that below branch quadrupedal locomotion represents a “mechanical release” from the challenges of moving on top of thin arboreal supports. Additionally, it is possible, that arm-swinging could have evolved from an anatomically-generalized arboreal primate that began to forage and locomote below branches. During these suspensory bouts, weight would have been shifted away from the hindlimbs towards forelimbs, and as the frequency of these boats increased the reliance of the forelimb as the sole form of weight support would have also increased. This form of functional decoupling may have released the hindlimbs from their weight-bearing role during suspensory locomotion, and eventually arm-swinging would have replaced below branch quadrupedal locomotion as the primary mode of suspensory locomotion observed in some primate species. This study provides the first experimental evidence supporting the hypothetical link between below branch quadrupedal locomotion and arm-swinging in primates.

Analyse cinétique et cinématique de la locomotion chez les enfants atteints d'un déficit moteur cérébral : comparaison de l'orthèse tibiale fixe et articulée

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Comparaison des paramètres cinématiques et cinétiques lors de la locomotion chez des enfants obèses et non-obèses

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Modulation de l'activité respiratoire par la locomotion chez la lamproie

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Contribution du cortex moteur et des afférences cutanées dans le contrôle et la plasticité de la locomotion chez le chat

Thèse numérisée par la Direction des bibliothèques de l'Université de Montréal.

Gait Regulation for Bipedal Locomotion

This work explores regulation of forward speed, step length, and slope walking for the passive-dynamic class of bipedal robots. Previously, an energy-shaping control for regulating forward speed has appeared in the literature; here we show that control to be a special case of a more general time-scaling control that allows for speed transitions in arbitrary time. As prior work has focused on potential energy shaping for fully actuated bipeds, we study in detail the shaping of kinetic energy for bipedal robots, giving special treatment to issues of underactuation. Drawing inspiration from features of human walking, an underactuated kinetic-shaping control is presented that provides efficient regulation of walking speed while adjusting step length. Previous results on energetic symmetries of bipedal walking are also extended, resulting in a control that allows regulation of speed and step length while walking on any slope. Finally we formalize the optimal gait regulation problem and propose a dynamic programming solution seeded with passive-dynamic limit cycles. Observations of the optimal solutions generated by this method reveal further similarities between passive dynamic walking and human locomotion and give insight into the structure of minimum-effort controls for walking.

Synthesis of Anisotropic Magnetic Nanoobjects Designed for Locomotion in External Magnetic Fields

The subject of the present work is the synthesis of novel nanoscale objects, designed for self-propulsion under external actuation. The synthesized objects present asymmetric hybrid particles, consisting of a magnetic core and polymer flagella and their hydrodynamic properties under the actuation by external magnetic fields are investigated. The single-domain ferromagnetic cobalt ferrite nanoparticles are prepared by thermal decomposition of a mixture of metalorganic complexes based on iron (III) cobalt (II) in non-polar solvents. Further modification of the particles includes the growth of the silver particle on the surface of the cobalt ferrite particle to form a dumbbell-shaped heterodimer. Different possible mechanisms of dumbbell formation are discussed. A polyelectrolyte tail with ability to adjust the persistence length of the polymer, and thus the stiffness of the tail, by variation of pH is attached to the particles. A polymer tail consisting of a polyacrylic acid chain is synthesized by hydrolysis of poly(tert-butyl acrylate) obtained by atom transfer radical polymerization (ATRP). A functional thiol end-group enables selective attachment of the tail to the silver part of the dumbbell, resulting in an asymmetric functionalization of the dumbbells. The calculations on the propulsion force and the sperm number for the resulting particles reveal a theoretical possibility for the propelled motion. Under the actuation of the particles with flagella by alternating magnetic field an increase in the diffusion coefficient compared to non-actuated or non-functionalized particles is observed. Further development of such systems for application as nanomotors or in drug delivery is promising.

Mechanobiology of Bone Development and Computational Simulations

Bone is important because it provides the skeleton structural integrity and enables movement and locomotion. Its development and morphology follow its function. It adapts to changes of mechanical loading and has the ability to repair itself after damage or fracture. The processes of bone development, bone adaptation, and bone regeneration in fracture healing are regulated, in part, by mechanical stimuli that result when the bone is loaded.

Functional outcome and usage of the prosthesis of lower limb amputees fitted with osseointegrated fixation

This study established that the core principle underlying categorisation of activities have the potential to provide more comprehensive outcomes than the recognition of activities because it takes into consideration activities other than directional locomotion.

Functional outcome of transfemoral amputees fitted with an osseointegrated fixation : temporal gait characteristics

The purpose of this study was to characterise the functional outcome of 12 transfemoral amputees fitted with osseointegrated fixation using temporal gait characteristics. The objectives were (A) to present the cadence, duration of gait cycle, support and swing phases with an emphasis on the stride-to-stride and participant-to-participant variability, and (B) to compare these temporal variables with normative data extracted from the literature focusing on transfemoral amputees fitted with a socket and able-bodied participants. The temporal variables were extracted from the load applied on the residuum during straight level walking, which was collected at 200 Hz by a transducer. A total of 613 strides were assessed. The cadence (46±4 strides/min), the duration of the gait cycle (1.29±0.11 s), support (0.73±0.07 s, 57±3% of CG) and swing (0.56±0.07 s, 43±3% of GC) phases of the participants were 2% quicker, 3%, 6% shorter and 1% longer than transfemoral amputees using a socket as well as 11% slower, 9%, 6% and 13% longer than able-bodied, respectively. All combined, the results indicated that the fitting of an osseointegrated fixation has enabled this group of amputees to restore their locomotion with a highly functional level. Further longitudinal and cross-sectional studies would be required to confirm these outcomes. Nonetheless, the data presented can be used as benchmark for future comparisons. It can also be used as input in generic algorithms using templates of patterns of loading to recognise activities of daily living and to detect falls.

Load on osseointegrated fixation of a transfemoral amputee during a fall : loading, descent, impact and recovery analysis

Falling represents a health risk for lower limb amputees fitted with an osseointegrated fixation mainly because of the potential damage to the fixation. The purpose of this study was to characterise a real forward fall that occurred inadvertently to a transfemoral amputee fitted with an osseointegrated fixation while attending a gait measurement session to assess the load applied on the residuum. The objective was to analyse the load applied on the fixation with an emphasis on the sequence of events, the pattern and the magnitude of the forces and moments. The load was measured directly at 200 Hz using a six-channel transducer. Complementary video footage was also studied. The fall was divided into four phases: loading (240 ms), descent (620 ms), impact (365 ms) and recovery (2495 ms). The main impact forces and moments occurred 870 ms and 915 ms after the heel contact, and corresponded to 133 %BW and 17 %BWm, or 1.2 and 11.2 times the maximum forces and moments applied during the previous steps of the participant, respectively. This study provided key information to engineers and clinicians facing the challenge to design equipment, and rehabilitation and exercise programs to restore safely the locomotion of lower limb amputees.