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.

Background: Virtual Reality (VR) devices are becoming more and more common as game systems. Even though modern VR Head Mounted Displays (HMD) allow the user to walk in real life, it still limits the user to the space of the room they are playing in and the player will need virtual locomotion in games where the environment size exceeds that of the real life play area. Evaluations of multiple VR locomotion techniques have already been done, usually evaluating motion sickness or usability. A common theme in many of these is that the task is search based, in an environment with low focus on interaction. Therefore in this thesis, four VR locomotion techniques are evaluated in an environment with focus on interaction, to see if a difference exists and whether one technique is optimal. The VR locomotion techniques are: Arm-Swinging, Point-Tugging, Teleportation, and Trackpad. Objectives: A VR environment is created with focus on interaction in this thesis. In this environment the user has to grab and hold onto objects while using a locomotion technique. This study then evaluates which VR locomotion technique is preferred in the environment. This study also evaluates whether there is a difference in preference and motion sickness, in an environment with high focus in interaction compared to one with low focus. Methods: A user study was conducted with 15 participants. Every participant performed a task with every VR locomotion technique, which involved interaction. After each technique, the participant answered a simulator sickness questionnaire, and an overall usability questionnaire. Results: The results achieved in this thesis indicated that Arm-Swinging was the most enjoyed locomotion technique in the overall usability questionnaire. But it also showed that Teleportation had the best rating in tiredness and overwhelment. Teleportation also did not cause motion sickness, while the rest of the locomotion techniques did. Conclusions: As a conclusion, a difference can be seen for VR locomotion techniques between an environment with low focus on interaction, to an environment with high focus. This difference was seen in both the overall usability questionnaire and the motion sickness questionnaire. It was concluded that Arm-Swinging could be the most fitting VR locomotion technique for an interactive environment, however Teleportation could be more optimal for longer sessions.

A displasia coxofemoral é uma desordem do desenvolvimento da articulação coxofemoral canina, é uma das afecções ortopédicas mais usuais e acomete mais freqüentemente raças de grande porte. A análise objetiva da locomoção do cão através do sistema de baropodometria (Tekscan®) propicia informações sobre as forças de reação do solo que podem ser usadas para estudar membros com função normal e anormal. O objetivo deste presente estudo foi avaliar objetivamente a locomoção de cães displásicos e compará-la com a locomoção de cães normais. Para tanto foram formados 2 grupos, o grupo I composto por 10 cães hígidos das raças Rottweiler e Golden Retriever, após avaliação clínica e radiográfica, e o grupo II, formado por 20 animais adultos com evidência clínica e radiográfica de displasia coxofemoral, encaminhados ao Serviço de Cirurgia de Pequenos Animais do HOVET FMVZ/USP. Os animais foram conduzidos sobre a plataforma de baropodometria, ao passo, do lado esquerdo do condutor a uma velocidade constante, semelhante entre os 2 grupos. Foram registradas 20 passagens para a formação do banco de dados das forças máximas verticais, impulsos verticais, e tempo de apoio dos membros torácicos e pélvicos dos cães com DCF e o mesmo para cães hígidos. Cinco passagens válidas foram utilizadas para análise estatística. Entre os cães as forças foram normalizadas de acordo como o peso corpóreo e expressas em porcentagem (%) de peso corpóreo (%PC). A média de tempo de apoio para membros torácicos e pélvicos do grupo I foi de 0,442 segundos ±0,09, e de 0,437 segundos ± 0,088, respectivamente. Nos animais do grupo II os valores foram 0,482 segundos ±0,002 para membros torácicos e 0,451 segundos ±0,006 para membros pélvicos. No grupo I a força pico vertical (FPV) e Impulso Vertical (IV) para membros torácicos foram de 44,03%PC ± 4,7 e 12,52 %PC/s ± 4,04, respectivamente e de 27,87%PC ± 4,5 e 7,88 %PC/s ± 2,9 para membros pélvicos. No grupo II os valores da FPV e IV para membros torácicos foram de 44,04%PC ± 6,7 e 13,08%PC/s ± 4,5, respectivamente. Para membros pélvicos o valor da média da FPV foi de 21,75%PC ± 5,7 e o valor da média do IV foi de 6,3%PC/s ± 2,7. Quando foi realizada a comparação estatísitca entre os valores de tempo de apoio para membros torácicos e pélvicos, FPV e IV de membros torácicos e pélvicos entre o grupo I e o grupo II houve diferença significante (P=0.062) apenas nos valores da FPV de membros pélvicos, sendo menor em cães displásicos. Isso indica uma menor força de apoio nos membros pélvicos dos animais portadores de DCF, durante a locomoção. Com esses resultados formou-se um banco de dados de valores de cães displásicos conduzidos ao passo que poderá servir em futuras avaliações de vários modelos de tratamento para displasia coxofemoral. / Hip dysplasia is a developmental disorder of the coxofemoral joint. The disease is one of most common orthopedics diseases and it is more common in large breed dogs. The objective gait analysis of the dog with pressure walkway measurement systems provided information about ground reaction forces that is used to study limbs with normal and abnormal function. The purpose of this study was to evaluate objective gait analysis of the dog with hip dysplasia and to compare with healthy dogs locomotion. Prior to study the dogs were put in 2 groups. Group I - composed for 10 healthy dogs after clinical and radiographic evaluation. Group II -formed for 20 dogs with hip dysplasia determined on the basis of results of complete physical and radiographic evaluation of the hip joints. The dogs were examined at the Small Animal Surgery Service - HOVET - FMVZ/USP. The animals were handled across force platform, at the walk, on the left side of the handler, at a constant speed. Twenty trials were recorded to database formation of peak vertical forces (PVF), vertical impulses (VI) and stance phase of forelimbs and hind limbs of the dogs with hip dysplasia and the same to healthy dogs. Five valid trials were obtained for statistical analysis. Among dogs, ground reaction forces were normalized and expressed as percentage of body weight (%BW). The average of stance phase for forelimbs and hind limbs of group I was 0,442 s ± 0,09, e 0,437s ± 0,088, respectively. In group II the values were 0,482 s ± 0,002 for forelimbs and 0,450 s ± 0,006 for hind limbs. In group I, the peak vertical force (PVF) and vertical impulse (VI) for forelimbs were 44,03%BW ± 4,7 and 12,52 %BW/s ± 4,04, respectively, and 27,87%BW ± 4,5 and 7,88 %BW/s ± 2,9 for hind limbs. In group II, the values of PVF and VI for forelimbs were 44,04%BW ± 6,7 e 13,08%BW/s ± 4,5,respectively. For hind limbs the average value of PVF 21,75%BW ± 5,7 and the average of VI was 6,3%BW/s ± 2,7. Peak vertical force was significantly decreased in hind limbs of group II when compared with group I (p=0.062). The other values of stance phase, PVF e VI for fore and hind limbs had no statistical difference. These values indicated decreased loading function in hind limbs of dogs with hip dysplasia, during the locomotion. The database of dogs with hip dysplasia, at the walk, was formed with these results and can be used in futures evaluations of various models of treatment for hip dysplasia.

A prática de atividade física, em especial a corrida de rua, vem atraindo bastante o interesse de idosos e a cada dia ganha mais adeptos com idade superior a 60 anos. Porém, o avanço da idade traz além de alterações estruturais, mudanças funcionais na coluna de idosos, o que pode influenciar o padrão de movimento do corpo durante a atividade esportiva. O objetivo deste estudo foi investigar as diferenças nos movimentos da coluna, pelve e quadril entre idosos corredores e adultos jovens corredores durante a caminhada e a corrida e paralelamente observar se os movimentos da coluna teriam relação com a absorção de impacto durante a corrida. Realizou-se uma análise cinemática dos segmentos de interesse nas duas tarefas e a força reação do solo vertical foi mensurada na corrida em dois grupos, um formado por adultos jovens corredores (n = 22) e outro por idosos corredores (n = 21). Na caminhada, a principal diferença entre os grupos foi a menor extensão de quadril e a maior anteversão pélvica nos idosos. Na corrida a amplitude de movimento torácica nos idosos se mostrou menor e a amplitude de movimento lombar positivamente correlaciona ao pico de impacto com o solo. A extensão de quadril nos idosos também foi menor na corrida, porém não apresentou correlação com a anteversão pélvica. Este trabalho mostrou diferenças entre idosos e adultos corredores como resultados de déficits articulares dos idosos e ressaltou possíveis pontos de intervenção, como a extensão de quadril, extensão torácica e movimento da coluna lombar / Practice of physical activity, especially running, has been attracting the interest of elderly people and gains more adepts older than 60 years old each day. However, aging brings structural and functional alterations on the spine, and this can influence the movement pattern of the body during sport practice. The aim of this study was to investigate the differences in spine, pelvis and hip movements between elderly runners and young adult runners during gait and running, and also to investigate the relationship between spine range of motion and impact absorption during running. Kinematic analysis of the segments of interest for both tasks was performed and the ground reaction force was measured during running for two groups, one formed by elderly runners (n=21) and the other formed by young adult runners (n=22). For gait, the main difference between the groups was the lesser hip extension and greater pelvic anterior tilt of the elderly. For running the thoracic range of motion of the elderly was lesser and the lumbar range of motion was positively correlated with the ground impact peak. The hip extension of the elderly was also lesser in running, but did not present correlation with the anterior pelvic tilt. This study showed differences between elderly and young adult runners as results of joint deficiencies of the elderly and directed treatment possibilities on the hip extension, thoracic extension and lumbar spine movement

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 crianças / Idiopathic 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

Esta tese objetivou investigar as características biomecânicas da corrida com mínima proteção para a planta do pé, bem como o efeito do treinamento sob estas condições sobre o aparelho locomotor. Para isso, 3 experimentos foram realizados: o experimento 1 caracterizou a realização da corrida e o efeito do treinamento com os pés descalços sobre parâmetros biomecânicos da corrida; o experimento 2 testou o efeito da transição de 4 meses do calçado tradicional para o minimalista, manipulando-se o calçado esportivo; e o experimento 3 comparou indivíduos habituados ao uso do calçado com indivíduos habituados a movimentos em condições de mínima proteção. Uma esteira equipada com plataformas de força (Sistema Gaitway) e um eletromiógrafo (EMG 1000 Sistema Lynx) foram utilizados para a aquisição dos dados biomecânicos. Agudamente, os 3 experimentos mostraram interferência negativa da proteção plantar reduzida sobre parâmetros da força de reação do solo (FRS). Contudo, no experimento 1 observou-se possibilidade de menor ocorrência de primeiro pico da FRS em indivíduos habituados a movimentos com mínima proteção, significando sobrecarga externa reduzida. Os experimentos 1 e 2 evidenciam melhora do controle de sobrecarga externa em função de 4 meses de treinamento com mínima proteção, diminuindo em até 54,4% o choque mecânico. Conclui-se que, forma aguda e em indivíduos não adaptados, as condições de mínima proteção podem interferir negativamente no movimento e no controle das cargas externas, aumentando a sobrecarga imposta ao aparelho locomotor durante a corrida. Contudo, a experiência em mínima proteção, principalmente adotada de forma crônica e específica, influencia positivamente o gerenciamento das cargas mecânicas, melhorando o controle de choque e rendimento / This thesis aimed to investigate the biomechanical characteristics of running with minimal protection for the foot, as well as the training effects upon the human body under this condition. For that, three experiments were performed: experiment 1 compared individuals accustomed to the use of footwear with individuals accustomed to motor tasks in conditions of minimal protection; the second experiment characterized the running barefoot and the effects of 4-month training barefoot upon its biomechanical parameters; and experiment 3 tested the effects of 4-month transition from traditional running shoe to the minimalist shoe, only manipulating the footwear. A treadmill equipped with force platforms (System Gaitway) and an electromyography (EMG 1000 - Lynx System) were used to measure the biomechanical variables. Acutely, the 3 experiments showed negative interference of minimal protection upon parameters of the ground reaction force (GRF). However, the experiment 1 presented the possibility of lower first peak of GRF occurrence in the participants who are adapted to minimal protection condition, what means decreased external load. The experiments 2 and 3 showed improvements in the external forces control as a response to 4 months of adaptation in minimal protection running, what could decrease about 54,4% of mechanical stress. In conclusion, the minimal protection condition can negatively influence the movement and stress control in a acute way and in individuals who are not adapted to minimal protection condition, increasing the overload imposed to human body during running. However, the adaptation to minimal protection condition, mainly in a chronicle and specific way, exert a positive influence upon the management of mechanical loads, improving impact control and performance

A displasia coxofemoral (DCF) é uma doença poligênica, hereditária que acomete várias espécies e é influenciada por diversos fatores durante o desenvolvimento causando incongruência articular. É uma das afecções ortopédicas mais comuns em cães e possui alta incidência em animais da raça Pastor Alemão. O objetivo desse estudo foi correlacionar o grau de severidade da DCF com a locomoção dos cães através da análise cinética pelo sistema de baropodometria (Tekscan®) que propicia de modo quantitativo os valores das forças verticais de reação ao solo verificando assim alterações no apoio de cães displásicos durante a locomoção. Foram formados 5 grupos de acordo com a classificação de DCF segundo as categorias A, B, C, D e E com 8 pastores alemães em cada. Os animais foram examinados para controle e descrição dos sinais apresentados, bem como realizaram o teste de análise cinética do qual foi retirado 5 passagens válidas sobre a plataforma múltipla para comparação entre as forças de reação ao solo (FRS). Na análise cinética foram avaliados: - pico de força vertical (PFV), impulso vertical (IV) e tempo de apoio (TA) com a velocidade constante entre 1,3 a 1,6 m/s. Além da metodologia convencional foi realizada a análise de cada região de apoio, a fim de verificar a distribuição das FRS nos coxins e dígitos. Dos resultados obtidos nota-se uma tendência a diminuição progressiva do PFV nos membros pélvicos (MPs) a partir do grupo de cães com displasia leve (C) e o impulso se apresentou diminuído nos cães displásicos sem qualquer correlação com a severidade da doença. Nenhuma compensação relevante foi encontrada nos membros torácicos (MTs) e não houve diferença entre o TA em cães displásicos. A simetria entre o lado direito e esquerdo foi constatada em todos os grupos pela análise convencional. A nova metodologia permitiu a descrição detalhada do padrão da curva de força em formato de M realizada pelo coxim no inicio do apoio e pelos dígitos em um segundo momento. Entretanto dada a variabilidade e assimetria do apoio nessas regiões pode-se inferir que o coxim dos MTs têm maior porcentagem de apoio em relação aos dos MPs e essa distribuição não é afetada de modo regular na DCF. Os sinais clínicos apresentados ao exame físico como a dor, claudicação, atrofia muscular e diminuição de amplitude articular, corroboram com a diminuição do apoio em cães displásicos. Conclui-se que de acordo com o grau de severidade da DCF os animais têm uma tendência a apoiarem menos nos MPs, entretanto deve-se levar em conta a condição individual de cada animal, pois há cães displásicos que possuem o mesmo padrão de apoio de cães livres de DCF. / Hip dysplasia (HD) is a polygenic disease, inherited that affects many species and is influenced by several factors during development causing joint incongruity. It is one of the most common orthopedic disorders in dogs and has a high incidence in German shepherd dogs. The objective of this study was to correlate the degree of severity of the HD with the locomotion of dogs by kinetic analysis trough the pressure walkway system (Tekscan®) that provides quantitative values of vertical ground reaction forces (GRF) to the changes in the support of dysplastic dogs during locomotion. Five groups were performed according to HD´s classification in the categories A, B, C, D and E in German shepherd dogs total of 8 animals in each group. Dogs were examined and kinetic analysis was performed with 5 valid passages on the multiple platforms were used for comparison each groups. In kinetic analysis was assessed the peak vertical force (PVF), vertical impulse (VI), and stance phase (SF) with a constant speed between 1.3 to 1.6m/s. Besides conventional methodology the analysis of support checking the distribution of GRF in the pad and digits in each region were innovative. Results had a tendency to decrease progressively the PVF in the hindlimbs (HL) from group C (mild dysplasia) and VI is decreased in dysplastic dogs without any correlation with the severity of disease. Relevant compensation was not found in the forelimbs (FL) and even in dysplastic dogs there were no difference between the SF. Symmetry between the right and left side was found in all groups by conventional analyze. The new methodology has allowed a detailed description of the standard curve of force in M-shaped held by the support pad at the beginning and the digits in a second time. However given the variability and asymmetry of support in these areas we can only assert that the FL pads have a higher percentage of support from HL and this distribution is not affected on a regular basis in the HD. The clinical signs presented by physical examination like pain, lameness, muscle atrophy and articulate amplitude decreased, corroborated with the support decrease in dysplastic dogs. We conclude that according to the severity HD degree animals have tendencies to support less at the HL. However it should be consider the individual response because there are dysplastic dogs that have the same pattern of support that dogs free of HD.

A robotic ribbon fin with twelve independent fin rays, elastic fin membrane, and a body of adjustable height was developed for this thesis specifically to test the 1990 theory put forth by Lighthill and Blake that a multiplicative propulsive enhancement exists for Gymnotiform and Balisiform swimmers based on the ratio of body and fin heights. Until now, the theory has not been experimentally tested. Proof of such a momentum enhancement could have a profound effect on unmanned underwater vehicle design and shed light on the evolutionary advantage to body-fin ratios found in nature, shown as optimal for momentum enhancement in Lighthill and Blake’s theory. Thrust tests for various body heights were conducted in a recirculating flow tank at different flow speeds and fin flapping frequencies. When comparing different body heights at different frequencies to a ’no-body’ thrust test case at each frequency no momentum enhancement factor was found. Data in this thesis indicate there is no momentum enhancement factor due to the presence of a body on top of an undulating fin. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection

This thesis examines the use of motion detection and analysis systems to detect falls and repetitive motion patterns of at-risk individuals. Three classes of motion are examined: Activities of daily living (ADL), falls, and repetitive motion. This research exposes a simple relationship between ADL and non-ADL movement, and shows how to use Principal Component Analysis and a kNN classifier to tell the 2 classes of motion apart with 100% sensitivity and specificity. It also identifies a more complex relationship between falls and repetitive motion, which both produce bodily accelerations exceeding 3G but differ with regard to their periodicity. This simplifies the classification problem of falls versus repetitive motion when taking into account that their data representations are similar except that repetitive motion displays a high degree of periodicity as compared to falls. / by Clyde Carryl. / Thesis (M.S.C.S.)--Florida Atlantic University, 2013. / Includes bibliography. / Mode of access: World Wide Web. / System requirements: Adobe Reader.

O objetivo deste estudo foi comparar os efeitos de dois protocolos de intervenção para o treino de marcha robótica no Lokomat em indivíduos pós acidente vascular cerebral crônico. O primeiro protocolo foi estabelecido com a diminuição progressiva da velocidade da marcha e da assistência do robô durante o treino de marcha. O outro protocolo foi estabelecido com o aumento progressivo da velocidade da marcha e a diminuição progressiva da assistência do robô durante o treino de marcha. Este é um ensaio clínico duplo cego, controlado e randomizado realizado no Instituto de Reabilitação Lucy Montoro em São Paulo com indivíduos em regime de internação. Participaram deste estudo 18 individuos com apenas um episódio de acidente vascular cerebral crônico acima de 06 meses de lesão, classificados com escore 1-2 pela Escala de Deambulação Funcional EDF. Os participantes foram randomizados no grupo experimental (N= 10): com o protocolo da diminuição progressiva da velocidade da marcha e da assistência do robô e no grupo controle (N=08): com o protocolo do aumento progressivo da velocidade da marcha e a diminuição progressiva da assistência do robô. Cada sujeito realizou 30 sessões de treino de marcha robótica, 5 dias por semana, com duração de 30 minutos cada treino, por 6 semanas. As medidas de avaliação foram: Time Up and Go (TUG), teste de caminhada de 6 minutos (6M), teste de caminhada de 10 metros (10M), escala de equilíbrio de Berg (EEB), Fugl-Meyer de função motora de extremidade de membros inferiores (FMMI), Escala de Deambulação Funcional (EDF) e medida de independência funcional (MIF) com escore total e item locomoção. A análise estatística foi realizada com o teste MANOVA e Wilcoxon por meio da comparação dos dados inicias e finais e as diferenças entre os grupos. Posteriormente foi realizado um pós teste para comparar a diferença entre os grupos com aplicação do teste Anova e Ancova. Foram analisados 18 indivíduos e, ao final deste estudo, houve diferença estatistica do grupo experimental para as - 8 - mensurações EDF (p=0,004), TUG (p=0,03), 6M (p=0,04), EEB(p<0,0001), FMMI(p=0,02), MIF (p=0,01) e MIF item Locomoção (p=0,04). Já no grupo controle observou-se diferenças nas mensurações EEB (p=0,02), MIF (p= 0,0002) e MIF item Locomoção (p=0,04). Os resultados demostram que o grupo experimental pode mostrar maiores benefícios do que o grupo controle, porém estudos com maior número de participantes e diferentes instrumentos de avaliação são necessários para estabelecer evidências conclusivas para o treino de marcha robótica. Este estudo teve suporte de financiamento da Coordenação de Aperfeiçoamento de Pessoal de Nível Superior CAPES / The aim of this study was to compare the effects of two intervention protocols for robotic gait training in Lokomat with individuals chronic stroke: novel versus conventional protocol. The Novel protocol was established with the progressive decrease in gait velocity and assistance robot for gait training and the Conventional protocol was established with the progressive increase in gait velocity and the progressive decrease of robot assistance during gait training. This is a clinical double-blind, randomized controlled trial conducted at Lucy Montoro Rehabilitation Institute in São Paulo with inpatients. The study included 18 subjects with only one episode of chronic stroke above 06 months of injury, classified by the score 1-2 Functional Ambulation Category FAC. Subjects were randomized in the Novel group (N = 10) and Conventional group ( N = 08). Each subject performed 30 robotic gait training sessions, 5 days a week, lasting 30 minutes each training for 6 weeks. The initial and final evaluation measures were: Time Up and Go (TUG), 6-minute walk test (6MWT), 10 meter walk test (10MWT), Berg Balance Scale (BBS), Fugl-Meyer motor function of the lower limbs (FM), Functional ambulation category (FAC) and Functional Independence Measure (FIM ) with total score and locomotion item. Statistical analysis was performed with the MANOVA and Wilcoxon test comparing the initial and final data and differences between groups, after this was performed a post-test comparing the difference between the groups with application of Anova and ANCOVA test. In all were analysed 18 individuals in this study, there was statistical difference in the Novel group for measurements: FAC (p = 0.004), TUG (p = 0.03) , 6MWT (p = 0.04) , BBS (p < 0.0001), FM (p = 0.02), MIF (p = 0.01) and MIF Locomotion item (p = 0.04). In the conventional group was observed differences in measurements: BBS (p = 0.02), MIF (p = 0.0002) and MIF Locomotion item (p = 0.04). The results show that the Novel group can show greater benefits than the Conventional group, but studies with larger numbers of participants and different - 10 - evaluation tools are needed to establish conclusive evidence for the robotic gait training . This study was funded support by Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES