La main est l’organe de préhension chez l’homme qui lui permet de manipuler des objets de tailles et de formes diverses et variées. Elle lui permet également d’effectuer des tâches, parfois d’une grande complexité, avec force ou avec une grande finesse. Il s’agit d’un outil d’une importance cruciale au quotidien, tant sur le plan domestique que sur le plan professionnel, et la perte de fonctionnalité de la main peut rapidement devenir un handicap pour certaines personnes. Bien qu’il existe encore peu d’études sur la capture et l’analyse des mouvements de la main dans la littérature scientifique, de nombreux domaines comme la médecine, l’ergonomie, le sport, la robotique, la réalité virtuelle ou les jeux vidéo s’y intéressent de plus en plus, afin de permettre aux personnes d’exploiter au mieux les fonctionnalités de la main tout en la préservant, ou de créer des interfaces homme-machine afin que celui-ci puisse interagir avec des robots ou en environnement virtuel. L’objectif de cette thèse a été de développer une méthode d’analyse cinématique in vivo et personnalisée afin de contribuer à une meilleure compréhension des mouvements de la main de l’homme. Une première partie du travail consiste à mettre en place un protocole de capture du mouvement de la main sur des sujets masculins et féminins de différentes tranches d’âges, allant de 20 à 50 ans. Les captures de mouvement ont été effectuées à l’aide d’un système optoélectronique et de 56 marqueurs passifs collés sur la peau de la main du sujet. Deux types de mouvements ont été capturés : les mouvements fonctionnels en flexion-extension et en abduction-adduction de la main, et les mouvements de prise d’objets cylindriques et sphériques. Les captures de mouvement sont ensuite labellisées afin d’identifier les différents marqueurs et de pouvoir en extraire les trajectoires. La deuxième partie du travail consiste à développer une méthode d’analyse cinématique des mouvements externes de la main à partir des trajectoires des marqueurs et de la valider à l’aide d’un modèle in silico. En plus d’estimer les paramètres cinématiques avec précision dans le cas où les trajectoires des marqueurs sont parfaites, l’évaluation des méthodes fonctionnelles montre que les mouvements de la main sont assimilables à des mouvements plans, circulaires ou sphériques en fonction de l’articulation étudiée. La construction des repères fonctionnels à partir des paramètres cinématiques pour chaque segment de la main permet ensuite de décrire les mouvements de rotation des articulations à l’aide des angles de Cardan. Les courbes des angles de Cardan obtenues à partir des trajectoires des marqueurs du modèle in silico permettent de valider la méthode de décomposition développée pour l’ensemble des articulations, à l’exception des articulations trapézo-métacarpienne (TMC) et métacarpo-phalangienne (MCP1) du pouce qui sont plus difficiles à analyser. La dernière partie de ce travail de thèse consiste à analyser les mouvements fonctionnels et les mouvements de prise d’objets à partir des captures expérimentales. Les courbes des angles de Cardan obtenues à partir des mouvements fonctionnels correspondent globalement à celles obtenues dans la littérature, sauf dans le cas de l’articulation TMC. De plus, ces courbes montrent que les rotations articulaires ne s’effectuent pas uniquement autour d’un axe, mais autour d’un axe de rotation dominant et d’un ou deux axes de rotation secondaires. Toutefois, les courbes des angles de Cardan des rotations autour des axes secondaires ne correspondent pas toujours à celles présentées dans la littérature. Bien que peu de mouvements de prise d’objets aient pu être analysés, certaines corrélations intéressantes ont pu être trouvées entre les postures de la main et la géométrie des objets manipulés, notamment au niveau des articulations MCP et IPD. / The human hand is a prehensile organ which allows people to handle objects with various sizes and shapes. It is wonderful tool that can be used to perform different simple or complex tasks with strength or great dexterity. It is also a crucial tool in the daily life, both at home and in the workspace, and loss of hand functionality may quickly become disabling for some people. There are few studies in the literature. However, motion capture and kinematic analysis of the hand is becoming more and more of an interest in different areas such as medicine, ergonomics, sport, robotics, virtual reality and video games. Results from these studies have improved knowledge about skills of the hand and how to preserve them. The studies have also improved interactions between people and computers in order to command robots or to progress in virtual reality. The aim of the thesis was to develop methods for an in vivo and subject-specific kinematic analysis in order to contribute to the improvement of knowledge about the human hand motion. A first part of this thesis was to develop a protocol for the motion capture of the hand for male and female subjects aged from 20 to 50 years old. The motion capture was performed using an optoelectronic system with passive markers glued on the skin of the hand. Two sorts of movements were captured. Firstly, functional movements like flexion-extension and abduction-adduction. Secondly, prehensile movements of cylindrical and spherical objects. Then, markers on the motion captures were identified in order to extract their trajectories. The second part of this thesis consisted in the development of a method for the kinematic analysis of external hand movements from the marker trajectories. Validation of this method was achieved using a model of the hand developed in silico. Since no noise was added to the marker trajectories in the silico model; kinematic parameters were estimated with precision. Moreover, assessment of the functional methods showed that the hand motions can be approximated by a plane, a circular arc or a spherical cap depending on the joint studied. After constructing the functional coordinate systems for each segment of the hand using the joint kinematic parameters, it was possible to decompose any joint rotation into three Cardan angles. This decomposition method was validated using the marker trajectories of the hand model, except for the trapeziometacarpal (TMC) and the metacarpophalangeal (MCP1) joints of the thumb which are more difficult to study. The last part of this thesis consisted in the analysis of the functional and the prehensile movements from the motion captures. The curves of the Cardan angles obtained from the functional movements are similar to those presented in the literature for all of the joints, except for the TMC joint. It was also noticed that the joint rotations do not occur around only one axis, but around one dominant axis and one or two secondary axes. However, some differences between the curves of the Cardan angles around the secondary axes obtained in this thesis and those presented in the literature were noticed for some joints. Despite only few prehensile grasps were analyzed, some interesting correlations were also found between the hand shape and the objects grasped, more particularly at the metacarpophalangeal (MCP) and the distal interphalangeal (DIP) joints.

Orientador: Kátia Lucchesi Cavalca Dedini / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-22T11:25:08Z (GMT). No. of bitstreams: 1 Radaelli_GustavoZarpelon_M.pdf: 6785468 bytes, checksum: 07019edf34b966c552330056d686bd33 (MD5) Previous issue date: 2013 / Resumo: Os mancais possuem um papel expressivo dentre os componentes de um sistema rotativo, tendo o suporte de um elemento rotativo como sua principal função. Por trabalharem na interface entre elementos fixos e rotativos, os mancais constituem a origem de grande parcela das falhas ocorrentes em um sistema. Dentre estes, os mancais de rolamento de contato angular estão entre os mais utilizados, principalmente pela indústria automobilística. Apesar da ampla gama de aplicações, esses mancais usualmente estão sujeitos a falhas por fadiga de superfície, o que torna imprescindível um estudo aprofundado dos esforços e das velocidades aplicados às esferas e, consequentemente, às pistas interna e externa. A descrição dos esforços e das velocidades nas esferas é um desafio considerável, uma vez que as esferas estão sujeitas a uma lubrificação elastohidrodinâmica, que por sua vez, depende integralmente dos esforços e das velocidades das esferas para ser modelada, gerando assim um processo iterativo. O principal objetivo deste trabalho é analisar o rolamento de esferas de contato angular, com embasamento teórico na literatura clássica para, em seguida, iniciar o equacionamento do equilíbrio de forças nas esferas e no mancal, o qual por sua vez, resulta na força de contato associada à condição de lubrificação. Para tanto, um programa computacional para simulação numérica das análises cinemáticas e dinâmicas foi desenvolvido e seus resultados comparados com a literatura. Após realizar a validação inicial do modelo com a literatura, uma solução mais completa é proposta para reproduzir de uma forma mais detalhada o que se encontra em aplicações práticas. Os resultados encontrados pelas diversas simulações foram condizentes com os resultados encontrados na literatura clássica, atestando que o programa computacional desenvolvido é consistente / Abstract: The bearings are of great importance and its major function is to support a rotating element. Due to the mandatory role of these components in the interface between fixed and rotating elements, the bearings are the source of a great percentage of the possible faults on a system. The rolling bearings of angular contact are one of the most utilized, mainly by the automotive industry. In spite of the great applications field, these bearings are usually subject to damage by superficial fatigue, which makes of great significance the detailed study of the efforts and the velocities on the spheres and, consequently, on the external and internal railways. The description of the efforts and velocities acting on the spheres is a considerable challenge, once the spheres are subject to an elastohidrodynamic lubrication that fully depends on the efforts and velocities of the spheres, generating an iterative process. The main objective of this work is to analyze the rolling bearings of angular contact, under theoretical bases, in order to accomplish the forces balance for the balls and for the bearing, which in turn results in the contact forces associated to the lubrication condition. The analysis requires the development of a computational program to numerically simulate the kinematic and dynamic conditions and, then, some of the results can be compared with the literature. After the initial validation of the model with the literature, a more complete solution is proposed to make it closer to practical applications. Results obtained by several simulations are compatible with those found in theoretical bases, attesting that the computational program developed is consistent / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

O objetivo do presente trabalho foi descrever as características cinemáticas do salto de cavalos da raça Brasileiro de Hipismo, avaliar o julgamento realizado pelos juízes durante uma competição de salto em liberdade e comparar essas avaliações. Foram utilizados 13 equinos da raça Brasileiro de Hipismo, machos não castrados (40,15±4,24 meses, 491,1±40,89 kg). Os animais foram filmados saltando um obstáculo oxer durante uma competição de saltos em liberdade. Trajetórias do centro de massa corporal (CM) foram calculadas através da posição de pontos anatômicos que foram rastreados manualmente desde a decolagem até o pouso. Dessa trajetória, variáveis biomecânicas foram calculadas: velocidade vertical e horizontal, ângulos da velocidade e do deslocamento do CM na decolagem, altura máxima, deslocamento vertical e horizontal do CM, altura e fração de encurtamento dos membros sobre o obstáculo. Um polinômio de segunda ordem foi calculado através da trajetória do CM para obter três constantes com base na equação resultante. Os cavalos foram avaliados por três juízes: medidas zoométricas, funcionalidade, morfologia, salto, genealogia e modelo de garanhão. As notas de julgamento são consistentes entre si, mas são tendenciosas. As variáveis biomecânicas apresentaram alta repetibilidade e baixo erro. Nenhuma das notas de funcionalidade, genealogia e salto se correlacionam com as variáveis biomecânicas de salto. O julgamento do salto realizado não apresenta relação com as variáveis biomecânicas medidas. A análise cinemática não apresentou viés e foi muito consistente, podendo ser uma ferramenta para tornar o julgamento mais objetivo. / The objective of this study was to describe the jump kinematic characteristics of Brazilian Sport horses, evaluate the judgment conducted during a free jump competition and compare these assessments. Thirteen Brazilian Sport Horses stallions (40.15 ± 4.24 months, 491.1 ± 40.89 kg) were filmed jumping an obstacle during a competition. Body center of mass (CM) trajectories were calculated by the position of anatomical landmarks that were manually tracked from takeoff to landing. From this trajectory, biomechanical variables were calculated: vertical and horizontal velocities, angles of the velocity and of the displacement of the CM at takeoff, maximum height, vertical and horizontal displacement of the CM, height and shortening rate of the limbs over the obstacle. A second order polynomial was calculated to obtain three coefficients. All horses were evaluated by three judges: body measures, functionality, morphology, jumping, genealogy and stallion model. Judges are consistent with each other, but they are biased. The biomechanical variables showed high repeatability and low error. None of the functionality, genealogy and jumping scores correlate with jumping biomechanical variables. The judgement is not associated with the jumping biomechanical variables measured. Kinematic analysis showed no bias and was very consistent therefore being helpful for future sport horses judgement.

Submitted by Nadir Basilio (nadirsb@uninove.br) on 2018-07-16T19:41:25Z No. of bitstreams: 1 Amir Curcio dos Reis.pdf: 1475489 bytes, checksum: 32eea3f7e24896f451e6ba9cb6544786 (MD5) / Made available in DSpace on 2018-07-16T19:41:26Z (GMT). No. of bitstreams: 1 Amir Curcio dos Reis.pdf: 1475489 bytes, checksum: 32eea3f7e24896f451e6ba9cb6544786 (MD5) Previous issue date: 2016-11-29 / Patellofemoral pain (PFP) is one of the main diseases of the lower limbs, especially physically active women. The etiology is multifactorial and is directly linked to biomechanical disorders in the lower limb. Dynamic knee valgus is one of the major lower limb misalignment linked to PFP. Among the biomechanical characteristics in dynamic knee valgus, we highlight the excessive movement of hip adduction and internal rotation during closed kinetic chain activities, especially the squat. In addition to squat, dynamic valgus is described in other activities considered as low impact, such as stair climbing, and descending, walking and step downs tests, however, when we look for comparative information between high and low impact activity there is a gap in the literature. Furthermore, the kinematic behavior of the foot has been frequently associated with patellofemoral pain, however, studies evaluating the kinematic specifically during the functional activities through a multisegmented model are also scarce in the literature. Regarding treatment, there is no consensus about best approach, but the kinematic biofeedback has become an increasingly useful tool. The application can intervene directly in the joints of interest. Therefore, this PhD thesis was divided into 3 studies, with the following objectives: 1: Assess through kinetic and kinematic variables, the phase of high-impact single leg triple hop test (SLTHT) promotes more biomechanical changes in lower limb the phase of the low impact; 2: Compare the women foot kinematics with patellofemoral pain and pronated foot with asymptomatic during the implementation of the previous step down and side; and 3: To assess whether the 20% reduction results hip adduction or an increase of 20% of the anterior trunk tilt through kinematic biofeedback display different results when given the verbal biofeedback to lower hip adduction and most anterior trunk flexion and to evaluate whether these strategies are able to improve the pain immediately of women with patellofemoral pain during the squat. / A dor femoropatelar (DFP) constitui uma das principais afecções dos membros inferiores, sobretudo de mulheres fisicamente ativas. Sua etiologia é multifatorial e está diretamente ligada à desarranjos biomecânicos que envolvem o membro inferior, sendo o valgo dinâmico do joelho uma das principais alterações ligadas à ela. Dentre as características biomecânicas, destacamos a movimentação excessiva de adução e rotação medial do quadril durante atividades em cadeia cinética fechada, sobretudo o agachamento unipodal. Além do agachamento unipodal, o valgo dinâmico é descrito em outras atividades consideradas de baixo impacto, como a subida de escadas, descida de escadas, marcha, corrida e step downs tests, entretanto, quando se busca informações comparativas entre atividades de alto versus baixo impacto, há ima importante lacuna na literatura. Além disso, o comportamento cinemático do pé tem sido frequentemente associado à dor femoropatelar, entretanto, estudos que avaliem especificamente a cinemática durante as atividades funcionais por meio de um modelo multisegmentar também são escassos na literatura. Em relação ao tratamento, não existe um consenso sobre a melhor conduta, mas o biofeedback cinemático tem se tornado uma ferramenta cada vez mais útil. Sua aplicação pode intervir de forma direta nas articulações de interesse. Sendo assim, essa tese de Doutorado foi dividida em 3 estudos, com os seguintes objetivos: 1: Avaliar através de variáveis cinéticas e cinemáticas, se a fase de alto impacto do single leg triple hop test (SLTHT) promove mais alterações biomecânicas no membro inferior do que a fase de baixo impacto; 2: Comparar a cinemática do pé de mulheres com dor femoropatelar e o pé pronado com as assintomáticas durante a execução do do step down anterior e lateral; e 3: Avaliar se os resultados da redução de 20% da adução de quadril ou um aumento de 20% da inclinação anterior do tronco através do biofeedback cinemático apresentam resultados diferentes quando dado o biofeedback verbal para menor adução do quadril e maior flexão anterior do tronco, assim como avaliar se essas estratégias são capazes de melhorar a dor de forma imediata das mulheres com dor femoropatelar durante o agachamento unipodal.

京都大学 / 0048 / 新制・課程博士 / 博士(人間・環境学) / 甲第21861号 / 人博第890号 / 新制||人||213(附属図書館) / 2018||人博||890(吉田南総合図書館) / 京都大学大学院人間・環境学研究科共生人間学専攻 / (主査)教授 神﨑 素樹, 教授 石原 昭彦, 教授 久代 恵介 / 学位規則第4条第1項該当 / Doctor of Human and Environmental Studies / Kyoto University / DGAM

Human knee kinematics, especially during gait, are an important analysis tool. The current "gold standard" for kinematics measurement is a multi-camera, marker-based motion capture system with 3D position tracking. These systems are accurate but expensive and their use is limited to a confined laboratory environment. High deflection strain gauges (HDSG) are a novel class of sensors that have the potential to measure kinematics and can be inexpensive, low profile, and are not limited to measurements within a calibrated volume. However, many HDSG sensors can have a non-linear and non-monotonic response. This thesis explores using a nanocomposite HDSG sensor system for measuring knee kinematics in walking gait and overcoming the non-monotonic sensor response found in HDSGs through advanced modeling techniques. Nanocomposite HDSG sensors were placed across the knee joint in nine subjects during walking gait at three speeds and three inclines. The piezoresistive response of the sensors was obtained by including the sensors in a simple electrical circuit and recorded using a low-cost microcontroller. The voltage response from the system was used in four models. The first two models included a physics-based log-normal model and statistical functional data analysis model that estimated continuous knee angles. The third model was a discrete linear regression model that estimated the inflection points on the knee flexion/extension cycle. Finally, a machine learning approach helped to predict subject speed and incline of the walking surface. The models showed the sensor has the capability to provide knee kinematic data to a degree of accuracy comparable to similar kinematic sensors. The log-normal model had a 0.45 r-squared and was unsuitable as a stand-alone continuous angle predictor. After running a 10-fold cross validation the functional data analysis (FDA) model had an overall RMSE of 3.4° and could be used to predict the entire knee flexion/extension angle cycle. The discrete linear regression model predicted the inflection points on the knee kinematics graph during each gait cycle with an average RMSE of 1.92° for angle measures and 0.0332 seconds for time measures. In every estimate, the discrete linear regression model performed better than the FDA model at those points. The 10-fold cross validation of the machine learning approach using the discrete voltages could predict the categorical incline 90% of the time and the RMSE for the speed model was 0.23 MPH. The use of a HDSG as a knee kinematics sensor was shown as a viable alternative to existing motion capture technology. In future work, it is recommended that a calibration method be developed that would allow this sensor to be used independent of a motion capture system. With these advancements, this inexpensive and low profile HDSG will advance understanding of human gait and kinematics in a more affordable and scope enhancing way.

The final thesis was created in cooperation with the Institute of Physics of the Czech Academy of Sciences and European Laser Centre ELI Beamlines. It focuses on design of monitoring device for laser target observation in a high-performance laser particle accelerator. Details of scanning and positioning system designated for operation in UHV environment are presented in this thesis. Design changes were performed in scanning system in order to achieve more effective scanning. Positioning system, consisting of precise linear and rotary motors, is newly designed device with high precision positioning under 1 µm in direction of each axis. The purpose of monitoring device is to improve overall scanning precision, shorten targeting process, and increase user comfort.

This thesis deals with software creation for delt robot in TwinCAT 3 program. First part describes the general characteristics of a delta robot. Next part deals with hardware and PLC coding in TwinCAT 3 and the final part discusses the creation of an application.

The dissertation thesis is used as a methodology for prediction of selected parameters of rotational kinematic pairs of machine tools. The motivation for its writing has been continually increasing requirements for parameters (performance, accuracy, static and dynamic stiffness) of machine tools. The methodology takes into account the availability of suitable measuring devices and description of the design of rotary kinematic pairs. It will be useable for predicting the behavior of rotational kinematic pairs, even at the design stage by applying results to the machine design. The work is processed so that first is used a system approach to suggest methodology for prediction of the behavior of rotary kinematic pair in CNC machine tools, planning measurement strategy and verifying the results, including applications for specific kinematic chain of the selected machine. Based on this system approach and the resulting methodology, the measurement of the rotary kinematic pair was performed. The results of the system approach and measurement are generalized in the form of recommendations for designers of machining centers, allowing to increase the accuracy of the rotational kinematic pair.

Poddajné kontakty obsahující polymerní nebo pryžové členy lze nalézt v technických i biologických aplikacích. I přes vývoj v této oblasti existují efekty, které ovlivňují tribologické aspekty těchto kontaktů, a je třeba je dále zkoumat. Tato práce se zabývá vlivy kinematických podmínek, konfigurace, viskoelasticity a viskozity maziva na tření v mazaných poddajných kontaktech. Výsledky byly použity k vývoji numerického modelu pro predikci kapalinového tření v poddajných kontaktech. K objasnění chování poddajných kontaktů bylo použito zařízení Mini Traction Machine (MTM) v konfiguraci ball-on-disc, což umožnilo zkoumání zmíněných vlivů. Z poznatků z technické oblasti bylo zjištěno, že viskoelasticita se projevuje ve všech konfiguracích, tedy soft-on-hard, hard-on-soft a soft-on-soft, a její efekt je nejvýznamnější v konfiguracích s poddajným diskem. Data dále ukazují, že poměr skluzu a valení má vliv na valivé tření což je v rozporu se současnou literaturou. Výsledky z biologické oblasti naznačují, že za určitých podmínek lze nahradit nativní kapalinu jednoduchým mazivem. Tyto poznatky mohou posloužit jako odrazový můstek pro další studie zabývající se poddajnými kontakty.