Le thème central de cette thèse est la conception d’actionneurs doux à partir de matériaux intelligents et d’une prothèse de main robotique souple. Notre approche prends en compte les différents points qui peuvent influer sur le développement d’une stratégie d’actionnement ou d’un muscle artificiel : i) Les mécanismes et la fonctionnalité de la main humaine afin d’identifier les exigences fonctionnelles pour une prothèse de main robotique en matière de préhension. ii) L’analyse et l’amélioration des mécanismes de la main robotique pour intégrer un comportement souple dans la prothèse. iii) L’évaluation expérimentale de la prothèse de main robotique afin d’identifier les spécifications du système d’actionnement nécessaire au fonctionnement cinématique et dynamique du robot. iv) Le développement et la modélisation d’une stratégie d’actionnement utilisant des matériaux intelligents.Ces points sont abordés successivement dans les 4 chapitres de cette thèse1. Analyse du mouvement de la main humaine pour l’identification des exigences technologiques pour la prothèse de main robotique.2. Conception et modélisation de la prothèse de main robotique à comportement souple.3. Evaluation mécatronique de la prothèse de main.4. Conception d’un muscle artificiel basé sur des matériaux intelligents. / In the field of robotic hand prosthesis, the use of smart and soft materials is helpful in improving flexibility, usability, and adaptability of the robots, which simplify daily living activities of prosthesis users. However, regarding the smart materials for artificial muscles, technologies are considered to be far from implementation in anthropomorphic robotic hands. Therefore, the target of this thesis dissertation is to reduce the gap between smart material technologies and robotic hand prosthesis. Five central axes address the problem: i)identification of useful grasping gestures and reformulation of the robotic hand mechanism, ii) analysis of human muscle behavior to mimic human grasping capabilities, iii) modeling robot using the hybrid model DHKK-SRQ for the kinematics and the virtual works principle for dynamics, iv) definition of actuation requirements considering the synergy between prehension conditions and robot mechanism, and v) development of a smart material based actuation system.This topics are addressed in four chapters:1. Human hand movement analysis toward the hand prosthesis requirements2. Design and modeling of the soft robotic hand ProMain-I3. Mechatronic assessment of Prosthetic hand4. Development of an artificial muscle based on smart materials

The diploma thesis deals with the kinematic analysis of the most frequently used technique in sports karate. Specifically, it analyzes the technique of the direct punch Gjaku cuki from the perspective of kumite discipline. The thesis describes its theoretical implementation on the basis of professional publications dedicated to the general public as well as experts and points to the various factors that affect performance in kumite. The strike technique is analyzed in practice with various technical advances by using 3D kinematic analysis (SIMI Motion). The work analyzes in detail the movements of the individual segments of the body, the angular changes between them and examines the variables such as hull inclination, speed, acceleration, height and center of gravity track during the direct punch. The results are partially compared with the theoretical description and the differences in the results of the members of Czech national karate team with different technical maturity are examined. The conclusion are summarized the acquired knowledge from kinematic analysis, which provide a recommendation for the training practice and appropriate advice on quality of Gjaku cuki.

Title: 3D analysis of immediate effect on posture of shoe with postural insoles based on Rašev and with proceptor insoles PodoAktiv® Objective: The aim of this study is to evaluate the immediate effect of shoe insoles with postural pelote by Rašev and shoe insoles with proceptors PodoAktiv® on the postural hold with main focus at the pelvis and shoulder. Methodology: In this thesis we examined 9 participants who agreed joining the study. To messure postural hold body segments which we have chosen, we have used the Balance® 4D device. The selected body segments were marked by white spheric stickers. To compare postural hold of selected body segments we examined the participants in altogether 4 situations. Barefoot stand, stand in shoes without insoles, stand in shoes with custom-made postural insoles based on Rašev and stand in shoes with custom-made insoles PodoAktiv® . Results: In this study we confirmed that postural insoles based on Rašev have immediate effect on the hold of pelvis and shoulders. The insoles PodoAktiv® don't show such an effect on the hold of those segments we have tested. The hypothesis H1 and H2 have been confirmed, hypothesis H3 and H4 have been rejected. There was not found any trend which would describe the immediate reaction of the participants (postural hold with main...

Title: Muscle activity analysis during the violoncello play Objectives: This thesis focuses on analysing and comparing specific back muscles of a bowing violoncellist. The findings can help understanding pathologic mechanisms and back pain caused by violoncello playing. It may be useful in choosing suitable preventive compensatory exercise as well and for future research. Eventually, the analysis could be applied in playing ergonomics and designing a proper seat. The thesis also aims on evaluating suitability of the chosen measuring method in this branch. Methods: The theoretical part reviews contemporary knowledge about musculoskeletal system disorders linked with violoncello playing. The practical part aims on evaluating data obtained from 3D kinematic analysis and surface EMG of specific back muscles of professional violoncello player during playing. Several conditions are assessed. Results: The experiment has shown that when playing a violoncello there is an asymmetric loading of the back muscles. Loading of specific muscles has is affected by way of bowing, string location and the seat. The experiment was done on a single proband, so these conclusions may not be generally valid. Keywords: violoncello playing, musicians, surface electromyography, 3d kinematic analysis, violoncellists' diseases,...

Les travaux de recherche présentés dans ce mémoire concernent la prédiction et l’amélioration des performances des machines-outils à structure parallèle dans le but de produire des pièces conformes à la qualité requise en un temps minimal. Le problème abordé permet de déterminer l’influence de la structure sur la productivité et la qualité de la pièce usinée dans le contexte de l’Usinage à Grande Vitesse de pièces automobiles et aéronautiques. Ce travail propose alors des avancées suivant deux axes fondamentaux : - la modélisation du comportement anisotrope de la cellule d’usinage ; - la proposition de nouvelles méthodes d’adaptation du processus.Ces deux axes sont dans un premier temps abordés vis-à-vis d’un objectif d’amélioration des temps de déplacement d’outil hors matière. La méthode développée nécessite l’élaboration d’un modèle cinématique des déplacements hors matière spécifique à chaque structure de machine outil et basé sur l’utilisation d’une loi de commande articulaire. Un outil d’aide à la mise en place d’un usinage sur machine-outil à structure parallèle est ensuite proposé. Cet outil repose sur un modèle numérique de comportement cinématique utilisant une loi de commande de déplacement dans le repère lié à la pièce permettant de prédire le temps d’usinage en fonction des trajectoires. L’optimisation du processus d’usinage s’appuie également sur la prédiction de la qualité d’usinage. Pour cela, un modèle expérimental basé sur une campagne de mesures effectuée sur la machine-outil considérée a été développé. Ces approches sont appliquées à des usinages de pièces industrielles sur la machine-outil PCI Tripteor X7. Leur originalité réside dans l’amélioration des performances des machines-outils à structure parallèle à partir de l’analyse du comportement durant l’usinage et permet, par conséquent, d’étendre leur domaine d’application. / The research works presented here deal with the prediction and the performance improvement of parallel kinematic machine tools in order to produce machine parts with a specified quality level and in a minimum time. The problem treated allows determining the structure influence on the productivity and the machined part quality in the context of High Speed Machining for automotive and aeronautical parts.So, these works propose improvements along two fundamental ways : - modelling of the machine tool anisotropic behaviour ; - new methods of process adaptation. These approaches lead in a first time to a study of the time taken by the linking tool movement between cutting operations. The developed method is based on the definition of a kinematic model of linking tool movements, specific to each machine-tool and based on a command law defined in the joint workspace. A helpful resource for the setting up of machining with a parallel kinematic machine tool is then proposed. It is based on a numerical model of the kinematic behaviour using a command law of the movement defined in the programming workspace and providing a prediction of machining time. The process optimization is also based on the machining quality prediction brought by an experimental model enhanced by a measurement campaign realized on the considered machine tool. These approaches are applied to industrial parts with the PCI Tripteor X7 machine-tool. Their originality lies in the improvement of parallel kinematic machines tool performances from an analysis of the machine behaviour during the machining, and consequently allows extending their application field.

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Des fissures intergranulaires ont été observées sur des composants évoluant dans un environnement CO2 à haute température (550°C). Le matériau, un acier austénitique inoxydable de nuance 316H, est soumis à des sollicitations en fluage. L'objectif de la thèse est de permettre une meilleure compréhension du mécanisme d'endommagement par fluage et des effets de l'environnement sur l'apparition et la propagation de ces fissures. Une synergie entre la simulation par éléments finis et la mesure de champs cinématiques au moyen de la Corrélation d'Images Numériques (CIN) a été créée pour aborder ce problème avec une approche locale, à l'échelle de la microstructure. Une méthode de CIN adaptée au suivi de la fissuration basée sur l'utilisation des expressions de la Mécanique Linéaire Elastique de la Rupture a été développée. Une validation expérimentale sur essai de traction in-situ sur microéprouvettes pré-fissurées de matériau 316H est proposée. / At elevated temperature (550°C) in CO2 environment, intergranular creep cracks have been observed in thermally and environmentally aged 316H austenitic stainless steel. The objective of this work is to enhance the understanding of the creep crack mechanism and the effects of environment on crack initiation and growth. Some microtests on Single Edge Notched Tensile specimen (SENT) have been performed to better describe the interaction between chemistry and mechanics at the microstructural scale. A creep crack monitoring procedure using Digital Image Correlation (DIC) have been developped and assessed using Finite Element Modelling (FEM) of cracked bi-crystal. Based on a projection on Linear Elastic Fracture Mechanics expressions, the crack parameters (crack tip position, orientation) can be determined and the growth can be measured. A validation on in-situ tensile tests on SENT 316H specimen is proposed.

Made available in DSpace on 2016-06-02T20:18:13Z (GMT). No. of bitstreams: 1 3542.pdf: 2125981 bytes, checksum: dc4d268edf82cba3471e3345587f4cb9 (MD5) Previous issue date: 2011-02-22 / Universidade Federal de Sao Carlos / This study aimed to describe the method used for the kinematic analysis of kicking movements in infants and to determine the effect of additional weighting in the pattern of the kicking movements of infants in the first four months of life. For this, two studies are presented. The first study describes the method used for the kinematic analysis of kicking movements in infants. In the study, four infants were longitudinally videotaped at ages from one to six months and analysis was performed on the Dvideow system. It was verified that the use four video cameras was required. Moreover, six plumb lines were used to calibrate the system and ensure an accuracy of 2 mm. It was concluded, based in the first estudy that the use of the Dvideow system to perform kinematic analysis of the kicking movement in infants proved to be appropriate and feasible. The second study aimed to verify the influence of weights of 1/10 e 1/3 the mass of lower limb in the pattern of the kicking movements of infants in the first four months of life. Fourteen healthy infants participated in the study, longitudinally videotaped. Kicking frequency, foot/panel contact frequency, intralimb coordination pattern, movement time, average speed and straightness index were analyzed. Comparing the ages, we found differences in the kicking frequency, foot/panel contact frequency, movement time, and average speed. Comparing the weighting conditions, we found changes in the kicking frequency and foot/panel contact frequency; the kinematic variables remained unchanged. Therefore, we suggest that during the first four months of life, infants change the kicking frequency according to their ages, the intra-session training and additional weighting. These features are probably the result of intrinsic factors such as increased mass and muscle strength, behavior status of infants, maturation of the Central Nervous System and extrinsic factors such as the weight and the interest in the environment and in performing the proposed task. / Este trabalho teve por objetivos descrever o método utilizado para análise cinemática dos chutes e verificar os efeitos do peso adicional no padrão dos chutes nas idades de um a quatro meses de vida. Para tanto, são apresentados dois estudos. O primeiro estudo descreve o método empregado para análise da cinemática dos movimentos de chutes de lactentes. Neste estudo, quatro lactentes foram filmados longitudinalmente nas idades de um a seis meses e a análise foi realizada no sistema Dvideow 6.3. Foi verificado que o uso de quatro câmeras de vídeo é necessário. Além disso, utilizamos seis fios de prumo para calibrar o sistema e garantir uma precisão de 2mm. Portanto, concluímos, com base no primeiro estudo, que a utilização do sistema Dvideow para realizar a análise cinemática dos chutes de lactentes mostrou-se adequada e viável. O segundo estudo teve por objetivo verificar a influência de pesos de 1/10 e 1/3 da massa do membro inferior no padrão dos chutes de lactentes de um a quatro meses de vida. Participaram deste estudo 14 lactentes, filmados longitudinalmente. Foram analisadas as variáveis frequência de chutes, freqüência de contato do pé com o painel, padrão de coordenação intramembro, tempo de movimento, velocidade média e índice de retidão. Quando consideramos as idades, verificamos diferença na freqüência de chutes, na freqüência de contatos do pé com o painel, no tempo do movimento e na velocidade média. Quando comparamos as condições de peso, verificamos alteração da freqüência de chutes e da freqüência de contatos do pé com o painel; as variáveis cinemáticas mantiveram-se inalteradas. Portanto, podemos sugerir que no decorrer dos quatro primeiros meses de vida, os lactentes alteram a freqüência dos chutes em função das suas idades, do treinamento intra-sessão e do peso adicional. Essas características são, provavelmente, resultado de fatores intrínsecos, como aumento da massa e força musculares, estado comportamental dos lactentes, maturação do Sistema Nervoso Central e fatores extrínsecos como o peso e o interesse pelo ambiente e em realizar a tarefa.

Made available in DSpace on 2016-06-02T20:18:21Z (GMT). No. of bitstreams: 1 5653.pdf: 2458887 bytes, checksum: 114ac62b5457a72bc40635eb7cb26c01 (MD5) Previous issue date: 2013-11-25 / This study aimed to investigate the impact of a specific training (serial varied practice) of short duration on the performance of manual reaching in preterm infants, in the period immediately following the acquisition of this skill. For this purpose, the thesis consisted of three studies: Study 1, in which a systematic review of the behavior of manual reaching in preterm infants was conducted. Three independent reviewers participated in the selection and analysis of the selected articles. It was found that the manual reaching movement in preterm infants has still not been extensively described in the literature, indicating that there is much to learn about how prematurity associated with organic immaturity, and the extrinsic factors which influence the dynamics of this ability. In studies 2 and 3, for the assessment and training of reaching, infants were randomly divided into two groups: experimental and control. They were assessed positioned sitting reclined at 45° to the horizontal in a child seat up to 3 days after emergence of reaching. The experimental group underwent specific training (serial varied practice) for about five minutes and the control group was trained in social interaction in the same conditions for the same time. Two evaluations were performed, one pre- and one post-training, lasting two minutes each, for both groups. The assessments were recorded by three digital cameras, and the images were captured and analyzed using the Dvideow 5.0 videogrammetry system; Matlab 7.9 was used for the filtering of the results and the calculation of the kinematic variables of the study 3. Study 2, confirmed the influence of specific training on the frequency, in the proximal adjustments (uni-and bimanual) and distal adjustments (contact surface of the hand, palm orientation and opening of hand) of the manual reaching, in the period of emergence of the skill in preterm infants. The participants in the study were 18 infants of both sexes, born between 29 and 33 weeks of gestational age, with a birth weight less than 2500 grams, and who required postnatal hospital care. In the experimental group, the results after training showed a significant increase in the frequency of intragroup reaching (p=0.015) and between groups (p=0.026). There was significant difference in proximal adjustments, in the intragroup analysis, where after training the infants in the experimental group presented more unimanual (p= 0.025) and bimanual reaching (p = 0.023). In the intragroup analysis, the experimental group showed a significant difference in bimanual reaching (p=0.016) after training. Regarding distal adjustments apenas the experimental group displayed more reaching with the hand semiopen after training. A significant difference was noted in contact with the dorsal surface of the hand and fingers (p=0.027) and external oblique orientation (p=0.025). In the intergroup analysis there was a significant difference in opening of the hand (open, p=0.029), and in the orientation of the palm (external oblique, p=0.041) for the experimental group after training. Study 3 assessed the effect of specific training (serial varied practice) of short duration, on the kinematic variables (peak velocity, movement duration, mean velocity, straightness index, adjustment index, and movement unit) in manual reaching. It was found after specific training that only the experimental group showed a significant difference in peak velocity intragroup (p=0.036) and intergroup (p=0.016), which decreased after specific training, and the other variables showed no significant difference. However, according to the test that confirms the clinical relevance (Cohen's d), it was observed that after specific training (serial varied practice) of short duration, the experimental group showed a decrease in peak velocity, duration of movement, the number of movement units, and a slight increase in the rate of adjustment, indicating educational and clinical significance, suggesting that something has been learned and / or changed in the period immediately following the training session. The results indicate that specific training (serial varied practice) of short duration, favored more reaching with the external oblique, semiopen and open hand, with slower movement, with greater adjustment and fewest movement units in the period of acquisition, which may thus contribute to a better development and enhancement of this skill. Therefore, it is suggested that preterm infants may benefit from early practice (training), and this can be used as an intervention strategy for the acquisition, as well as the improvement of the reaching skill in the acquisition period, thus coming closer to the standard of mature reaching. / Este trabalho teve por objetivo investigar o efeito de um treino específico (prática variada seriada) de curta duração no desempenho do comportamento de alcance em lactentes pré-termo considerados de risco, no período imediato à aquisição dessa habilidade. Para tanto a tese constituiu-se de três estudos: Estudo 1 (já publicado) foi realizada uma revisão sistemática sobre o comportamento de alcance manual em lactentes pré-termo. Três revisores independentes participaram da seleção e análise dos artigos selecionados. Verificou-se que o movimento de alcance em lactentes pré-termo ainda não está extensivamente descrito na literatura. Isto pode estar relacionado ao fato de que é necessário entender primeiro o comportamento motor típico antes de se investigar os movimentos de lactentes pré-termo. Nos estudos 2 e 3, para a avaliação e treino do alcance, os lactentes foram divididos aleatoriamente em dois grupos: experimental e controle. Estes foram avaliados posicionados sentados reclinados a 45º da horizontal em uma cadeira infantil, até três dias após a emergência do alcance. O grupo experimental foi submetido a um treino específico (prática variada seriada) por aproximadamente cinco minutos e o grupo controle a um treino de interação social nas mesmas condições e tempo. Foram realizadas duas avaliações uma pré e outra pós-treino, com duração de dois minutos cada uma para ambos os grupos. As avaliações foram filmadas por três câmeras digitais, as imagens capturadas e analisadas pelo Sistema de Videogrametria Dvideow 5.0 e para a filtragem dos resultados e cálculo das variáveis cinemáticas do estudo 3 foi utilizado o software Matlab 7.9. No Estudo 2, verificou-se a influência do treino na frequência, nos ajustes proximais (uni e bimanual) e distais (superfície de contato da mão, orientação de palma e abertura da mão) no período de emergência do alcance manual, em lactentes pré-termo e considerados de risco para alterações no desenvolvimento motor. Participaram 18 lactentes de ambos os sexos, nascidos entre 29 e 33 semanas de idade gestacional, com menos de 2500 gramas, e, que necessitaram de cuidados hospitalares no pós-natal. Os resultados demonstraram no grupo experimental após o treino, aumento significativo da frequência de alcances intragrupo (p=0,015) e intergrupos (p=0,026). Verificou-se diferença significativa nos ajustes proximais, os lactentes do grupo experimental no pós-treino apresentaram mais alcances unimanuais (p=0,025) e bimanuais (p=0,023). Quando comparado ao grupo controle, o grupo experimental apresentou diferença significativa de alcances bimanuais (p=0,016) após o treino. Em relação aos ajustes distais observou-se diferença significativa na abertura da mão (aberta, p=0,029), e, na orientação de palma da mão (oblíqua externa, p=0,041) para o grupo experimental após o treino. Na análise intragrupo, apenas o grupo experimental apresentou mais alcances com a mão semiaberta após treino. Verificou-se diferença significativa para o contato com a superfície dorsal da mão e dedos (p=0,027) e orientação oblíqua externa (p=0,025). O Estudo 3 verificou o efeito do treino específico (prática variada seriada) de curta duração, nas variáveis cinemáticas (duração do movimento, pico de velocidade, velocidade média, índice de retidão, índice de ajuste e unidade de movimento) do alcance manual. Verificou-se após o treino específico que o grupo experimental apresentou diferença significativa apenas no pico de velocidade intragrupo (p=0,036) e intergrupo (p=0,016). Entretanto, por meio do teste de relevância clínica (Cohen s d), verificou-se que após o treino específico o grupo experimental apresentou diminuição da duração do movimento, do pico de velocidade, do número de unidades de movimento, e aumento no índice de ajuste, sugerindo que algo foi aprendido e/ou mudado no período imediato à sessão de treino. Os resultados indicaram que o treino específico de curta duração favoreceu mais alcances com a mão oblíqua externa, semiaberta e aberta, com movimento mais lento, com maior ajuste e menor número de unidades de movimento no período de aquisição, podendo contribuir para um melhor desenvolvimento e aprimoramento dessa habilidade. Diante disso, sugere-se que lactentes pré-termo podem se beneficiar da prática precoce, e esta poderá ser utilizada como estratégia de intervenção para a aquisição, bem como, para o aprimoramento da habilidade de alcance no período de aquisição aproximando-se do padrão de alcance maduro.

Made available in DSpace on 2016-06-02T20:19:15Z (GMT). No. of bitstreams: 1 3490.pdf: 1860770 bytes, checksum: 2b84fdccb9b3d7185122250019ec23bc (MD5) Previous issue date: 2011-02-25 / Financiadora de Estudos e Projetos / Patients with osteoarthritis (OA) of the knee show loss of functional independence, presenting difficulties in performing tasks that require high demand of the knee joint, such as stair descent. However, it is unclear how muscular and biomechanical changes were present in patients with OA in the early stages. Thus, the purpose of this study was to analyze the kinetics, kinematics and muscle activation in stair descent, in men with early degrees of knee OA and compare with a healthy control group. We evaluated 31 volunteers divided into two groups. Osteoarthritis Group (OAG) with 17 men with knee OA grade I or II (53+6 years) and Control Group (CG) with 14 healthy men (50+6 years). We performed kinematic evaluation of the stair descent in the sagittal plane for evaluation of the knee flexion angles. Moreover, electromyography (EMG) of vastus lateralis (VL) muscle was performed and vertical ground reaction force was measurement. The WOMAC questionnaire was administered to all volunteers. For the statistical analysis, was used the nonparametric Mann-Whitney U test for comparisons between groups for all variables (p> 0.05). There were no significant differences between groups for kinematic, kinetic and EMG. For the WOMAC, the differences between groups were significant in all three sections (pain: p = 0.001, stiffiness: p = 0.008 and function: p = 0.0005), OAG have the highest values. In adult men with knee OA grade I or II, the stair decent is preserved in the sagittal plane, indicating that at these stages of the disease the functional adaptations linked to the OA are not expressed. / Portadores de osteoartrite (OA) do joelho apresentam perda da independência funcional, apresentando dificuldades na realização de tarefas que exigem grande demanda da articulação do joelho, como a descida de degraus. Porém ainda não está claro como as alterações musculares e biomecânicas se apresentam em portadores de OA nos graus iniciais. Assim, o objetivo do presente estudo foi analisar a cinética, cinemática e a ativação muscular, na descida de degraus, de homens portadores de OA do joelho, nos graus iniciais, e comparar com um grupo controle saudável. Foram avaliados 31 voluntários divididos em dois grupos. Grupo Osteoartrite (GOA) com 17 homens portadores de OA de joelho graus I ou II (53 + 6 anos) e grupo controle (GC) com 14 homens saudáveis (50 + 6 anos). Foi realizada avaliação cinemática da descida de degraus, no plano sagital, para avaliação dos ângulos de flexão do joelho. Além disso, simultaneamente, foi realizada eletromiografia do músculo vasto lateral e mensuração da força vertical de reação do solo. O questionário WOMAC foi aplicado em todos os voluntários. Para a análise estatística foi utilizado o teste não paramétrico U-Mann Whitney para as comparações intergrupos, para todas as variáveis (p>0,05). Não foram encontradas diferenças significativas entre os grupos para as variáveis cinemáticas, cinéticas e eletromiográficas. Para o questionário WOMAC, as diferenças intergrupos foram significativas nas três seções (dor: p=0,001, rigidez: p=0,008 e função: p=0,0005) tendo o GOA os maiores valores. Assim, em homens adultos portadores de OA no joelho graus I ou II, a tarefa de descida de degraus, avaliada no plano sagital, está preservada, indicando que ainda nesta fase da doença as adaptações funcionais ligadas a estratégias biomecânicas compensatórias não foram manifestadas.