Cette thèse étudie la modulation des circuits neuronaux spinaux impliqués dans les fonctions motrices et leur contrôle corticospinal lors de la locomotion chez l’Homme sain et après accident vasculaire cérébral (AVC). Dans ce contexte, la stratégie utilisée a consisté à moduler les comportements de ces circuits en modifiant soit les volées afférentes d’origine suprasegmentaire ou les volées afférentes d’origine périphérique et d’étudier le retentissement de ces modifications sur le comportement des circuits neuronaux spinaux au cours de différentes tâches motrices dont la marche.Trois grands thèmes émergent de ce projet :« L’influence combinée des entrées corticospinales et de l’inhibition réciproque sur l’activité des motoneurones des fléchisseurs plantaires de la cheville » a été étudiée en station debout et lors de la marche stabilisée. Les résultats ont suggéré que l'interaction entre les motoneurones spinaux, les interneurones inhibiteurs Ia et les volées motrices corticospinales descendantes ainsi que leur contribution relative à l'activité des motoneurones des fléchisseurs plantaires de la cheville dépendent de la tâche motrice. Plus d’interaction entre les entrées descendantes et les interneurones Ia pendant la station debout était présente, probablement pour renforcer l’activation tonique des motoneurones du soléaire.« La modulation liée à la tâche de l’inhibition spinale croisée entre les membres inférieurs chez l’Homme » a été étudiée au niveau des muscles soléaires en position assise, debout et lors de la marche stabilisée. Nos résultats suggèrent que la transmission neurale croisée, via les interneurones commissuraux des groupes I et II, est déprimée par les entrées descendantes bilatérales du cortex moteur ou pendant le mouvement volontaire. La modulation spécifique de l’inhibition croisée du groupe II au cours de la locomotion suggère un contrôle des structures mésencéphaliques monoaminergiques et son rôle dans la coordination des jambes pendant la locomotion. « L’influence de la musique sur les automatismes locomoteurs après un Accident Vasculaire Cérébral » a été étudiée durant la marche stabilisée chez les patients atteints d’AVC. Nos résultats préliminaires suggèrent que l’écoute musicale modulerait les réseaux neuronaux médullaires impliqués dans les automatismes locomoteurs. / This thesis investigates the modulation of spinal neuronal circuits involved in motor function and their corticospinal control during locomotion in healthy humans and after stroke. In this context, the strategy was to modulate the behavior of these circuits by modifying either the afferent volleys from suprasegmental origin or from peripheral origin and to study the impact of these changes on the behavior of spinal neuronal circuits during different motor tasks such as walking.Three major themes emerge from this project:« Combined influence of corticospinal inputs and reciprocal inhibition on ankle plantar flexor motoneuron activity during walking » was investigated during standing and during stabilized walking. The results suggested that the interaction between spinal motoneurons, Ia inhibitory interneurones and motor corticospinal descending volleys and their relative contribution to the activity of plantar flexor motoneurons of the ankle depend on the motor task. More interaction between descending inputs and Ia interneurones during standing was present, presumably to strengthen the tonic activation of the soleus motoneurons.« Task-related modulation of crossed spinal inhibition between human lower limbs» has been studied at the soleus muscles in sitting, standing and during stabilized walking. Our results suggest that crossed neural transmission via commissural interneurones of groups I and II, is depressed by bilateral descending inputs of motor cortex during voluntary movement. Specific modulation of the crossed inhibition by group II afferents during locomotion suggests a control from monoaminergic mesencephalic structures and its role in legs coordination during locomotion.« The influence of music on locomotor automatisms after stroke» was investigated during stabilized locomotion in stroke patients. Our preliminary results suggest that music modulate the spinal neuronal networks involved in locomotor automatisms.

Les tests couramment utilisés pour évaluer le déficit sensori-moteur induit par une lésion du cerveau chez le rat posent problèmes en termes de sensibilité, d’objectivité et de quantification. Nous avons émis l'hypothèse selon laquelle l'analyse 3D de la cinématique de la locomotion constitue un paradigme expérimental approprié pour quantifier un tel déficit. Aussi, la locomotion a été étudiée lors d'une course sur tapis roulant (25 cm/s) muni ou pas d'obstacles (deux obstacles de 3cm de haut et 1,2 cm de large) à l'aide du système optoélectronique VICON. Le mouvement des quatre pattes a été simultanément enregistré avant et après induction d'une lésion unilatérale soit du striatum (mort d'origine métabolique des neurones striataux) soit du cortex cérébral (infarctus du cortex moteur) chez le rat adulte. Le laboratoire a précédemment montré que ces deux modèles de lésion conduisaient à une anomalie plus ou moins durable de la traversée d'une poutre étroite et surélevée, test classiquement utilisé pour évaluer la locomotion du rat. La première étude décrit pour la première fois la stratégie utilisée par le rat pour franchir un obstacle. Elle révèle que le franchissement s'accompagne d'une rupture complète du pattern locomoteur de base et que l'élévation des ceintures contribue de façon notable au passage de chacune des pattes au- dessus de l'obstacle. La seconde étude montre que la lésion du striatum s'accompagne d'un déficit locomoteur durable lors des deux modalités de course, l'anomalie portant sélectivement sur les pattes contralatérales à la lésion. Plus précisément, ces pattes présentent une flexion exagérée pendant la phase d'appui dont la durée est augmentée. Par ailleurs, lorsque que la patte antérieure opposée à la lésion conduit la manœuvre de franchissement, elle prend fréquemment appui sur l'obstacle suite à une initiation trop précoce de son élévation. Dans ce cas, la patte postérieure homolatérale franchit ou non correctement l'obstacle. L’ensemble de ces résultats suggère l’implication du striatum dans la programmation des mouvements guidés par la vue. La dernière expérience montre qu'aucune des modalités de locomotion n'est affectée par la lésion corticale, suggérant que le faisceau corticospinal n’est indispensable ni à la locomotion ni à son adaptation à l’environnement. En conclusion, notre travail montre que nos modalités d'enregistrement de la locomotion sont appropriées pour quantifier le déficit fonctionnel induit par une lésion du striatum, mais pas celui induit par une lésion du cortex moteur. Il serait intéressant de répéter les expériences lors d'une course volontaire, de manière à s'affranchir de la stimulation sensitive générée par le déroulement du tapis sous les pattes et d’étudier la réversibilité du déficit en cas de lésion partielle du striatum. / Although the rat has become the favourite animal model in preclinical researches on locomotion, studies designed to assess the strategy used by rats to avoid obstacle avoidance are lacking in rats. Using an optoelectronic 3D motion analysis system, we have, therefore, compared the step pattern, timing and length variables of locomotor cycles, trajectories and joint angles values of limbs when rats stepped between and overcame obstacles (3 cm-height) fixed on a treadmill belt (25 cm/s). Motion of all the four limbs was serially recorded for a 10 weeks long-period in adult animals with an initial age of 11 weeks. The results show that obstacle avoidance results in disruption of the basic step pattern thus resulting in increased stride length of all limbs, increased duration of the swing phase of forelimbs, only, and appearance of quadrupedal stance phases. They also reveal that elevation of limbs above the obstacle not only involved their flexion but also displacement of corresponding girdles. Remarkably, trajectory of the forelimb that was the second to overcome obstacle was the mirror image of that of the leading forelimb. Lastly, all measured parameters remain stable over the observation period during which body weight gain reaches 100 g (one third of the initial body weight). In conclusion, our study may represent a basic work for futures studies aimed at understanding the neural pathways involved in pathologies associated with deficit/recovery of challenged locomotion.

<p>In recent years, large-scale brain recordings in nonhuman primates have been a driving force for both fundamental neuroscience and the field of brain-machine interfaces (BMIs). This required monkey implants connected to external amplifiers and computers with ever increasing number of cables. As shown with our recent demonstration of 2,000 neurons recorded in one monkey, a tethered recording system begins to get bulky and complex, particularly for our BMI and neurophysiological research. To address this problem, we developed a multichannel wireless recording framework. The system was been tested in freely moving rhesus monkey by integrating wireless neural recordings with external computers performing BMI decoding, behavioral manipulanda and optical tracking. This technology can be applied to primate behavior research and, in the near future, wireless, fully implantable human neuroprosthetics, which is of great significance to those suffering from locomotor deficiencies, such as those brought on by spinal cord injury and stroke. Aided with these advances, I was able to study monkeys in unrestrained locomotion while their cortical activity was continuously monitored. I also explored unrestrained behaviors and how they showed distinct transitions in neural dynamics as monkeys engaged in different behavioral activities or learned new motor skills, such as bipedal walking. I was able to decode them many of these behavioral states from cortical activity with neural classifiers. Lastly, monkeys were able to perform BMI tasks continuously for many hours, allowing us to prove the relevance of unrestrained noise in BMI performance. Lastly, I present my role in developing two brain actuated movement platforms, a robotic exoskeleton under the guise of the WalkAgain project, and a microelectrode BMI enabled wheelchair. This body of work should assist those on the path to the next generation of clinical neuroprostheses and neural communication systems.</p> / Dissertation

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

The purpose of this thesis was to determine the neuronal circuitry mediating U50,488-induced locomotion in preweanling rats. To this end, preweanling rats received bilateral electrolytic lesions of the ventromedial thalamus or superior colliculus and, two days later, the same rats received a challenge injection of U50,488. It was predicted that bilateral lesions of the ventromedial thalamus or superior colliculus would attenuate the U50,488-induced locomotor activity of 18-day-old rats.

Background. Virtual reality (VR) technology has evolved to a stage where affordable consumer devices are available. Still, there are limitations to technology which causes compromises to be made. One of the big problems in VR is locomotion, especially regarding immersion and comfort. There are two common ways for locomotion in VR, Teleportation and smooth continuous locomotion. Smooth locomotion is often considered superior for immersion but commonly causes simulation sickness.Objectives. This paper is comparing two different methods of smooth locomotion, one based on head orientation and the other based on controller orientation. The objective is to determine which method is preferred regarding comfort, immersion and ease of use.Methods. To identify the strength and weaknesses of each method, a VR experiment was designed which simulates tasks common in video games. A comparative study was made with fifteen subjects.The fifteen participants performed tasks involving exploring a VR environment and using the VR controller to shoot at targets. After using each of the methods the subjects then answered questionnaires about the usability and the simulations sickness caused by the method. Other data was collected on how well the task was performed such as number of targets hit.Results. The users ranked controller orientation locomotion higher for perceived naturalness and likeability and was ranked lower for items relating to restrictiveness and difficulty. No significant difference was found regarding simulator sickness and performance.Conclusion. Controller orientation locomotion ranked at least as good or better than head orientation locomotion in all categories. This shows that it is the preferred orientation method in this use case where the application is similar to a first person shooter game.

abstract: This thesis aims to design of wings for a laminate biped robot for providing locomotion stabilization during jump gliding. The wings are designed to collapse down during the jumping phase to maximize jump height and deployed back for gliding phase using anisotropic buckling in tape spring hinges. The project aims to develop a reliable dynamics model which can be utilized for design and evaluation of optimized systems for jump-gliding. The aerodynamic simulations are run on a vortex-lattice code which provides numeric simulations of the defined geometric bodies. The aerodynamic simulations assist in improving the design parameters such as planform, camber and twist to achieve the best possible Coefficient of Lift for maximizing glide distance. The aerodynamic simulation output is then plugged into a dynamics model built in Python, which is validated and correlated with experimental testing of a key wing designs. The experimental results are then utilized to improve the dynamics model and obtain better designs for improved performance. The simulation model informs the aerodynamic design of wings for sustaining glide for the biped platform and maximizing glide length to increase range. / Dissertation/Thesis / Masters Thesis Aerospace Engineering 2020

The mobility and biomedical applications of a microscale magnetic tumbling (μTUM) robot capable of traversing complex terrains in dry and wet environments is explored. Roughly 800 x 400 x 100 μm in size, the robot is fabricated using standard photolithography techniques and consists of a rectangular polymeric body with embedded NdFeB particles. Static force analysis and dynamic modeling of its motion characteristics are performed with experimental verification. Techniques for simulating the intermittent, non-contact behavior of tumbling locomotion are used to find an optimized design for the microrobot, reducing time and resources spent on physical fabrication. When subject to a magnetic field as low as 3 mT, the microrobot is able to translate at speeds of over 30 body lengths/s (24 mm/s) in dry conditions and up to 8 body lengths/s (6.8 mm/s) in wet conditions. It can climb inclined planes up to 60° in wet conditions and up to 45° in dry conditions. Maximum open loop straight-line trajectory errors of less than 4% and 2% of the traversal distance in the vertical and horizontal directions, respectively, were also observed. Full two-dimensional directional control of the microrobot was shown through the traversal of a P-shaped trajectory. The microrobot's real-time position can be accurately tracked through visual occlusions using ultrasound imaging. When applied as a coating, a fluorescein payload was found to diffuse over a two hour time period from the microrobot. Cytotoxicity tests also demonstrated that the microrobot's SU-8 body is biocompatible with murine fibroblasts. The microrobot's capabilities make it promising for targeted drug delivery and other in vivo biomedical applications.

L’objectif de ce travail était d’améliorer la prévention de la chute des séniors en améliorant la détection des personnes à risque et les outils d’évaluation du contrôle postural ainsi qu’en utilisant un programme de réhabilitation par électrostimulation. Afin de répondre à ces trois objectifs, trois parties ont été développées :Le but de la partie I était d’apporter des outils permettant une meilleure détection des personnes à risque à travers l’identification de facteurs responsables d’un déclin du contrôle postural. Nous avons pu établir lors de trois études que (i) les personnes consommant cinq médicaments et plus par jour présentent un risque accru des troubles de la cognition et de la mobilité, (ii) les chuteurs fracturés ont un déficit de stabilisation après le passage d’obstacle et (iii) les chuteurs fracturés réduisent moins leur vitesse de marche lors de la double tâche. Dans la partie II nous avons évalué pour la première fois le freinage du centre de masse, paramètre corrélé à la qualité du contrôle postural, avec une technique d’analyse cinématique. Il a été mis en évidence que l’analyse sur plateforme de force, habituellement utilisée, présente une plus grande variabilité et conduit à une sous-estimation de l’indice de freinage, en comparaison à cette nouvelle méthode d’analyse. Dans la partie III nous avons testé l’efficacité d’un programme d’électrostimulation des muscles mobilisateurs de la cheville sur les facteurs de risque de chute. Cet entrainement a permis d’augmenter la force des muscles et bien que la réhabilitation d’autres muscles semble nécessaire afin d’améliorer la marche, le programme a réhabilité efficacement les performances d'équilibre / The objective of this work was to improve the prevention of falls in seniors by (i) improving the detection of people at risk, (ii) providing new tools for assessing postural control and (iii) studying the effects of rehabilitation program by electrostimulation on the markers of the risk of falling. In order to meet these three objectives, three parts were developed:The aim of Part I was to provide tools for better detection of persons at risk of falls or fractures through the identification of factors responsible for a decline in postural control. We have been able to establish through three studies that (i) elderly patients who take five or more drugs per day are at higher risk of cognitive and mobility impairments, (ii) subjects who undergo fractures have a stabilization deficit after obstacle crossing and (iii) fractured fallers reduce their walking speed less during dual-task walking.In Part II we evaluated for the first time the braking of the center of mass, a parameter correlated with the quality of the postural control, with a kinematic analysis technique. It has been demonstrated that the technic usually used, the force-plate analysis, presents greater variability and leads to an underestimation of the braking index in comparison with this new method of analysis.In Part III we tested the effectiveness of a training program by electrostimulation of the ankle plantar and dorsiflexors on the parameters related to the fall or its severity. This training increased the strenght, and probably the contraction speed of the ankle muscles. Although the rehabilitation of other muscles seems necessary to improve gait,the training program has rehabilitated dynamic balance.

Orientador: José Luiz Rybarczyk Filho / Resumo: O cavalo (Equus caballus) sofreu mudanças evolutivas do Eohypus com adaptações na locomoção para andamentos em diferentes velocidades. Em semelhança a outros ungulados a porção distal dos equinos é protegido pelo casco. O casco é estrutura córnea complexa que tem relação direta à saúde destes animais, é a parte protetora estrutural e funcional do sistema locomotor do equino, e tem ação direta sobre o retorno sanguíneo dos membros ao coração. Ao apoiar o casco sobre o solo, o animal pressiona as estruturas podais que promovem a expansão medial e lateral do casco. Considerando tais alterações no formato do casco nos momentos de apoio e elevação durante a locomoção, apresenta-se um sistema físico de precisão que analisa objetivamente a deformação dos cascos durante a locomoção, estabelecendo-se uma avaliação física e matemática das mudanças do formato do casco à locomoção. Foi desenvolvida uma placa de circuito impresso para se encaixar na plataforma embarcada Arduino (shield), esse dispositivo faz o processamento dos sinais adquiridos pelos sensores fixados nos cascos, e os enviam a um computador com uma taxa de amostragem a 200 Hz. Um software escrito na linguagem de programação Python recebe os dados, exibe-os em tempo real e os armazenam em arquivos para análises. Para realizar o teste in vitro foi criado um protótipo de um casco em PVC. Os testes in vivo foram feitos em quatro animais, o quais foram conduzidos em dois tipos diferentes de solo (asfalto e grama). O resultado ... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The horse (Equus caballus) underwent evolutionary changes of Eohypus with adaptati- ons in locomotion for different speeds. In similarity to other angulated distal equine is protected by the hoof. The hoof is a complex cornea structure that is directly related to the health of these animals, it is the structural and functional protective part of the equine locomotor system, and has direct action on the blood return of the limbs to the heart. By supporting the hoof on the ground, the animal presses the foot structures that promote the medial and lateral expansion of the hoof. Considering such changes in the shape of the hoof during moments of support and elevation during locomotion, a physical precision system is presented that objectively analyzes the deformation of the hooves during the locomotion, establishing a physical and mathematical evaluation of the changes of the shape of the hoof to locomotion. A printed circuit board was developed to fit the Arduino embedded platform (shield), this device processes the signals acquired by the sensors attached to the hooves and sends them to a computer with a sampling rate of 200 Hz. Software written in the Python programming language receives the data, displays it in real time, and stores it in files for analysis. For the in vitro test a prototype of a PVC hoof was created. In vivo tests were performed on four animals, which were conducted on two different types of soil (asphalt and grass). The result demonstrated and proved the op... (Complete abstract click electronic access below) / Mestre