<p>For primates, and other arboreal mammals, adopting suspensory locomotion represents one of the strategies an animal can use to prevent toppling off a thin support during arboreal movement and foraging. While numerous studies have reported the incidence of suspensory locomotion in a broad phylogenetic sample of mammals, little research has explored what mechanical transitions must occur in order for an animal to successfully adopt suspensory locomotion. Additionally, many primate species are capable of adopting a highly specialized form of suspensory locomotion referred to as arm-swinging, but few scenarios have been posited to explain how arm-swinging initially evolved. This study takes a comparative experimental approach to explore the mechanics of below branch quadrupedal locomotion in primates and other mammals to determine whether above and below branch quadrupedal locomotion represent neuromuscular mirrors of each other, and whether the patterns below branch quadrupedal locomotion are similar across taxa. Also, this study explores whether the nature of the flexible coupling between the forelimb and hindlimb observed in primates is a uniquely primate feature, and investigates the possibility that this mechanism could be responsible for the evolution of arm-swinging. </p><p> To address these research goals, kinetic, kinematic, and spatiotemporal gait variables were collected from five species of primate (Cebus capucinus, Daubentonia madagascariensis, Lemur catta, Propithecus coquereli, and Varecia variegata) walking quadrupedally above and below branches. Data from these primate species were compared to data collected from three species of non-primate mammals (Choloepus didactylus, Pteropus vampyrus, and Desmodus rotundus) and to three species of arm-swinging primate (Hylobates moloch, Ateles fusciceps, and Pygathrix nemaeus) to determine how varying forms of suspensory locomotion relate to each other and across taxa. </p><p> From the data collected in this study it is evident the specialized gait characteristics present during above branch quadrupedal locomotion in primates are not observed when walking below branches. Instead, gait mechanics closely replicate the characteristic walking patterns of non-primate mammals, with the exception that primates demonstrate an altered limb loading pattern during below branch quadrupedal locomotion, in which the forelimb becomes the primary propulsive and weight-bearing limb; a pattern similar to what is observed during arm-swinging. It is likely that below branch quadrupedal locomotion represents a “mechanical release” from the challenges of moving on top of thin arboreal supports. Additionally, it is possible, that arm-swinging could have evolved from an anatomically-generalized arboreal primate that began to forage and locomote below branches. During these suspensory bouts, weight would have been shifted away from the hindlimbs towards forelimbs, and as the frequency of these boats increased the reliance of the forelimb as the sole form of weight support would have also increased. This form of functional decoupling may have released the hindlimbs from their weight-bearing role during suspensory locomotion, and eventually arm-swinging would have replaced below branch quadrupedal locomotion as the primary mode of suspensory locomotion observed in some primate species. This study provides the first experimental evidence supporting the hypothetical link between below branch quadrupedal locomotion and arm-swinging in primates.</p> / Dissertation

<p>Osteoporosis is a common metabolic bone disorder characterized by low bone mass and microstructural degradation of bone tissue due to derailed bone remodeling process. A deeper understanding of mechanobiological phenomenon modulating bone remodeling response to mechanical load in a healthy bone is crucial to develop treatments for this bone remodeling disease by restoring bone integrity, and preventing further bone loss and fracture. Rodent models have been provided invaluable insight into the mechanobiological mechanisms regulating the bone adaptation response to dynamic mechanic stimuli. However, use of avian models may suggest novel insight into the mechanisms managing bone adaptation to dynamic load since the bird bones have some distinctive features to the mammal bones. </p><p> This dissertation sheds light on these aspects by means of assessing mechanical environment of cortical and cancellous tissue to in vivo dynamic compressive loading within the mouse tibia and chukar partridge tibiotarsus using microCT-based finite element model in combination with diaphyseal strain gauge measures. While the mouse tibial loading model showed that cancellous strains were lower than those in the midshaft cortical bone, cancellous strains were greater than those in the midshaft cortical bone for the bird tibiotarsal loading model. Sensitivity analyses for both the mouse model and the bird model demonstrated that the material property of cortical bone was the most significant model parameter. Despite the correlations between the computationally-modeled strains and strain gradients, and histologically-measured bone formation thickness at the mid-diaphyseal cross-section of the mouse tibia, no correlation existed between the modeled strains and bone formation measures at the mid-diaphyseal cross-sections of the bird tibiotarsus. A weak correlation found between the mid-diaphyseal strain gradients and bone formation thickness for birds. Further studies in this direction will enhance the interpretation of how the bone adaptation mechanism in a healthy bone is modulated to maintain bone integrity. </p>

A relação entre eletromiografia e força é objeto de numerosos estudos, porém tal relação ainda não está totalmente elucidada e necessita de uma melhor fundamentação. Uma possível razão para as divergências entre esses estudos reside na dificuldade em determinar a força de um músculo individualmente de forma direta. Dentro deste contexto, procurou-se utilizar a análise do sinal eletromiográfico, associada a um modelo biomecânico do segmento articular para a avaliação das forças internas do músculo. O objetivo do presente trabalho é avaliar o comportamento eletromiográfico do músculo quadríceps durante exercícios isométricos e isotônicos concêntricos e correlacioná-lo com a força muscular, calculada através de simulações, usando modelos biomecânicos. Busca-se também uma forma de reconstruir a sobrecarga a que o músculo é submetido durante o exercício isotônico, através do tratamento do sinal eletromiográfico. Para tanto, o exercício isotônico é realizado em baixa velocidade e com pequena sobrecarga, e além disso, utiliza-se o procedimento de normalizar o sinal eletromiográfico ponto-a-ponto. Tal procedimento não possibilitou que a força externa, aplicada pelo membro, fosse obtida a partir do tratamento do sinal eletromiográfico, porém permitiu a correlação da eletromiografia com a força interna, gerada pelo músculo. Verificou-se também que a relação entre eletromiografia e força varia com a posição angular, com a força, com a velocidade de contração muscular e com a velocidade angular. No que se refere às análises da atividade isotônica, uma importante conclusão é que a relação entre eletromiografia e força não é linear; no entanto, quando normalizados pelos seus valores máximos podem ser considerados proporcionais. / The relationship between electromyography and force is largely investigated, however, such relation is not yet fully understood, still requiring better foundation. One of the reasons that might cause discrepancies between studies lies on directly calculating a single muscle force. Our approach handles the electromyographic signal coupled with a biomechanical model of the joint for assessment of internal muscle forces. This study aims at an evaluation of electromyographic behavior of the quadriceps muscle throughout isometric and concentric exercises, relating it to muscle force calculated by means of simulations, using biomechanical models. It is also handled in our study a means of assessing muscle overloading throughout dynamic exercises using eletromiographic signals. Accordingly, the dynamic exercise is undergone at slow speed and low resistance; and the electromyographic signal is normalized angle by angle. The approach did not allow the external force, produced by the limb, be assessed by means of electromyographic treatment, however, it allowed a relation between electromyography with internal force produced by the limb. It is worth mentioning that the electromyography-force relationship undergoes variations according to angular position, to degree of force, to muscle contraction velocity, to angular velocity. As to isotonic activity analysis, one important conclusion is the relation between electromyography and force is non-linear, with the proviso, that when normalized by peak values electromyography and force may be considered proportional.

Background: Obesity is a chronic disease characterized by a body mass index (BM1) of ≥ 30 kg/m2 which negatively impacts the musculoskeletal system and has been found to be a major contributing factor to obesity-induced biomechanical alterations during activities of daily living (ADLs). A certain level of mobility is required for all populations to maintain independence and a good quality of life becomes more difficult with excess weight. Using a reduced weight-bearing activity, such as the Alter Gravity treadmill, would be beneficial in an obese population to reduce the load on the joints and potentially decrease the risk of weight bearing injury while maintaining normal gait mechanics. The purpose of this dissertation was to determine the biomechanical effects of excess weight and weight distribution on ADLs. To address this, two different weight gain models were created to simulate central (CL) and peripheral (PL) weight gain compared to an obese group (OW), and normal weight group (UL) during different activities of daily living (ADLs). The purpose of the third study was to compare lower extremity joint kinematics and muscle activation patterns between obese and normal individuals at different levels of body support (100, 75, and 50%) while walking in the AlterG treadmill. Methods: 14 normal weight (BMI: 22.4 ± 1.8 kg/m2, age: 23.4 ± 3.6 yrs) and 17 obese (BMI: 33.2 ± 2.3 kg/m2, age: 31.6 ± 8.0 years) adults participated in different ADLs (gait and descending a set of stairs). Normal weight participants were loaded with two different external loads sufficient to increase their BMI by 5 kg/m2 (~22.6% body mass). Kinematic and kinetic data were collected with 3D motion analysis. Frontal plane hip and knee angles and moments were calculated. Results: During gait, the obese group walked at a significantly slower velocity compared to UL. Step length was 8.7% longer in UL and 7.4% longer in the CL compared to the OW. PL more closely mirrored the OW group in step length, flexion moment and extension moment and the CL more closely mirrored the obese group in sagittal plane knee and hip excursion, and peak hip flexion moment and extension moment during gait During the transition from descending stair walking to level gait, it was found that the PL, but not CL, decreased step length, increased step width, and increased proportion of the gait cycle spent in stance. During the transition from walking down the stairs to level gait it was found that CL and PL affect temporal spatial variables differently. PL also reduced peak hip adduction angle, increased peak hip flexion moment, decreased peak hip extension, decreased sagittal plane hip excursion, and decreased frontal plane hip excursion. Conversely, CL reduced peak hip flexion moment and trended to reduce peak hip extension moment. To determine the effects of reduced body mass per se on improved biomechanics, we needed a model that would prevent associated changes in segmental volume. Therefore, using an AlterG treadmill facilitated this method. At 100 % BW support, mean ST and VM EMG activity were significantly higher in the obese compared to the normal weight groups. There were also differences found at 75 % BW support in ST in the obese being greater than the normal. Conclusions: Combined, the overall results of this dissertation suggest that weight gain is able to be modeled but is variable and task specific. The CL has proven to be the weight gain model that which elicits a better biomechanical obese response when normal weight individuals are loaded. Further work is needed to understand how to truly mimic obesity with an external load.

Introduction: Baseball pitching is considered one of the most intense aspects within the game of baseball, as well as the most complicated dynamic throwing task in all of sports. The biomechanics of pitching have been heavily investigated in an attempt to identify optimal pitching mechanics in terms of pitching performance. Previous quantified upper body kinetics research has concluded that improved muscle strength is needed in attempting to achieve adequate upper body kinetics and efficient pitching performances. Therefore, it is the purpose of this research study to compare the lower extremity muscle and upper extremity muscle activation patterns and kinematic variables associated with the curveball pitch and the fastball pitch when pitching from the wind-up and stretch position. Methods: Twelve skilled (competed at the NCAA collegiate level) baseball pitchers volunteered to be research subjects for this study. The participants were fitted with six surface electromyography (EMG) bipolar electrodes (Delsys Inc., Boston, Massachusetts) on the stride leg biceps femoris, medial gastrocnemius, ipsilateral side (throwing arm side) lower trapezius, upper trapezius, triceps brachii and biceps brachii. Each participant underwent maximum voluntary isometric contraction (MVIC) testing and then performed a pitching analysis. All EMG variables of interest were normalized using MVIC data and then compared between pitching types and pitch delivery. Shoulder rotation, shoulder abduction, elbow flexion and extension, elbow angular velocity and pelvis rotation were determined using motion capture (Motion Analysis Corp., Santa Rosa, SA) and Visual 3D software (C-Motion Inc., Germantown, MD). Paired t-tests and factorial analyses were performed using SPSS (p ≤ 0.05). Results and Discussion: Significant differences in the peak and mean muscle activity for the fastball and curveball pitched from wind-up and stretch position were observed. Significant differences in the kinematic variables between the fastball and curveball from the wind- up and stretch were also observed. These findings suggest that upper and lower muscle activity could be associated with enhanced pitching technique and pitching performance. Pitching kinematic differences associated with the diverse pitch types as well as the multiple pitch deliveries may impact the overall “wear and tear” on a pitcher’s health and pitching arm. Conclusions: Many differences were found, between both the pitching type and the pitching delivery as well as the kinematic variables. These findings suggest that upper and lower muscle activity could be associated with enhanced pitching technique and pitching performance to keep a baseball pitcher healthy and on the pitching mound longer into the season, decreasing the rate of injury. Shoulder rotation and pelvis rotation, as well as the elbow angular velocity and elbow flexion-extension, have an impact on the pitcher’s ability to stay off the disabled list and in the game longer. Determining pitch types along with delivery types that enhance the pitcher’s ability to stay active without injury will provide a way to make the game of baseball safer for the future generation of all stars.

Background: Training to increase muscular power is essential for improving athletic performance in most sports. Weight training (WT) is a common means for training muscular power. Another modality, flywheel resistance training (FRT), may be superior for improving muscular power. However, few studies have examined if FRT is kinematically similar to WT, or if FRT kinematics change with increasing inertial load. The purposes of this study were to determine how sagittal plane joint kinematics are affected by increasing inertial load during FRT squats, and to determine how FRT squat joint kinematics compare to WT squat joint kinematics. Methods: Subjects (n=9) completed three visits for this study. On the first visit subjects completed squat 1 repetition maximum (1RM) testing. The second visit served as a full FRT familiarization session in which subjects performed one set of 5 maximal effort FRT squats at each inertial load (0.050, 0.075, and 0.100 kgm2). On the third visit, subjects were videoed in the sagittal plane while performing the FRT squat protocol. Subjects then completed 5 maximal velocity repetitions of WT squats with the barbell loaded according to the Kansas Squat Test (KST) protocol. Kinematic differences between inertial loads were determined via 1-way repeated measures ANOVAS while differences between FRT and WT were determined with paired T-tests. Results: There were no differences in peak sagittal plane knee, trunk-hip, trunk (absolute) or ankle angles between inertial loads. Peak and mean joint angular velocities decreased with increasing inertial loads at the knee and trunk-hip. Mean joint angular velocities decreased at the ankle with increasing inertial loads, while peak and mean trunk (absolute) angular velocities were unaffected. No statistical analyses were conducted for FRT and WT comparison as not enough subjects met the criteria (n=3). Conclusions: Sagittal plane joint kinematics are largely maintained despite increasing inertial load during FRT squats. Lower extremity joint angular velocities decreased with increasing inertial load. If training for muscular power and knee extensor velocity is the goal, then the inertia of 0.050 kgm2 is most suitable.

Reverse shoulder arthroplasty (RSA) is performed to decrease pain and improve function and range of motion (ROM) primarily for patients with rotator cuff arthropathy, an arthritis of the shoulder secondary to rotator cuff insufficiency. However, RSA has suffered from high early to mid-term rates of complication, with instability being one of the most common. The shoulder biomechanics post-RSA depend on multiple factors such as implant geometry, positioning, and cuff integrity. This study built upon prior finite element (FE) analysis of RSA to investigate the effects of glenoid lateralization and retentive liner design on shoulder stability. A previously validated FE model was extended to model shoulder external rotation (ER) after implantation of the Zimmer Trabecular Metal RSA system. The FE model included the scapula bone with an implanted glenosphere implant, the humerus bone with implanted humeral sections of the RSA implant, and muscle tendons representing the subscapularis, infraspinatus, and deltoid. Six different models matched glenospheres in three cases of lateralization (2mm, 4mm, and 10mm) with two humeral poly liner designs (normal: 150° neck shaft angle or retentive: 155° neck shaft angle). Using Abaqus/Explicit FE software, the proximal ends of the soft tissues were pulled to their anatomical positions, and then fixed in space while the humerus was externally rotated 80° about the humeral long axis from a neutral position with the shoulder abducted 25°. The displacements, deltoid and subscapularis forces, impingement-free ROMs, and subluxation gap distances were recorded. Although greater glenosphere lateralization was associated with higher impingement-free ROM, larger deltoid and subscapularis forces developed. Deltoid tension contributes to shoulder stability and control, but elevated amounts of deltoid tension may contribute to scapular fractures and greater stress at impingement sites post-RSA. Further analysis such as inclusion of more anatomical features and additional motions may offer greater insight to orthopedic surgeons when planning for RSA insertion.

Athletes competing in the unarmed combat sport of mixed martial arts (MMA) are at an increased risk for long-term neurological consequences due to repetitive head trauma. Mass differentials as well as reported differences in fight styles between Lightweight and Heavyweight fighters in MMA may affect head impact kinematics creating different levels of head injury risk. Factors that influence the risk for head injury include the frequency, magnitude and interval of head impacts. The purpose of this study was to compare differences in frequency, frequency distribution of impact magnitudes, and time interval between head impacts per match between Lightweight and Heavyweight fighters in the Ultimate Fighting Championship (UFC). Head impacts of 60 fighters were documented from 15 Lightweight and 15 Heavyweight MMA fight videos. Impact type, frequency, and interval were recorded for each fighter, followed by the reconstruction of 345 exemplar impacts in the laboratory using a Hybrid III headform and finite element modeling to determine impact magnitudes. Next, head impacts (punches, kicks, knees and elbows) from fight videos were visually estimated to determine their corresponding magnitude range and establish the frequency distribution of impact magnitudes. The study revealed no significant differences in overall impact frequency and interval between Lightweight and Heavyweight fighters. The frequency distribution of different impact magnitudes was significantly different, with Lightweights sustaining significantly more Very Low, and High magnitude impacts. Overall, both Lightweight and Heavyweight MMA fighters sustain similar impact characteristics as other high-risk athletes including professional boxers and football players. Understanding the different factors that create brain trauma allows for the monitoring, identification, and protection of higher-risk athletes within these two weight classes.

Human gait is a complex process that involves the coordination of the central nervous and muscular systems. A disruption to the either system results in the impairment of a person’s ability to walk. Impairments can be caused by neurological disorders such as stroke and physical conditions like amputation. There is not a standardized method to quantitatively assess the gait asymmetry of affected subjects. The purpose of this research is to understand the fundamental aspects of asymmetrical effects on the human body and improve rehabilitation techniques and devices. This research takes an interdisciplinary approach to address the limitations with current rehabilitation methodologies. The goal of my Doctoral research is to understand the fundamental effects of asymmetry caused by physical and neurological impairments. The methods discussed in this document help in developing better solutions to rehabilitate impaired individuals’ gait. I studied four major hypothesis in regards to gait asymmetry. The first hypothesis is the potential of asymmetric systems to have symmetric output. The second hypothesis is that a method that incorporates a wider range of gait parameter asymmetries can be used as a measure for gait rehabilitation. The third hypothesis is that individuals can visually identify subtle gait asymmetries. Final hypothesis is to establish the relationship between gait quality and function. Current approaches to rehabilitate impaired gait typically focus on achieving the same symmetric gait as an able-body person. This cannot work because an impaired person is inherently asymmetric and forcing them to walk symmetrically causes them to adopt patterns that are not beneficial long term. Instead, it is more prudent to embrace the asymmetry of the condition and work to minimize in specific gait parameters that may cause more harm over the long run. Combined gait asymmetry metric (CGAM) provides the necessary means to study the effect of the gait parameters and it is weighted to balance each parameter’s effect equally by normalizing the data. CGAM provides the necessary means to study the effect of the gait parameters and is weighted towards parameters that are more asymmetric. The metric is also designed to combine spatial, temporal, kinematic, and kinetic gait parameter asymmetries. It can also combine subsets of the different gait parameters to provide a more thorough analysis. CGAM will help define quantitative thresholds for achievable balanced overall gait asymmetry. The studies in this dissertation conducted on able-body and impaired subjects provides better understanding of some fundamental aspects of asymmetry in human gait. Able body subjects test devices that aim to make an individual’s gait more asymmetric. These perturbations include a prosthetic and stroke simulator, addition of distal mass, and leg length alterations. Six able-body subjects and one amputee participated in the experiment that studied the effect of asymmetric knee height. The results which consisted of analyses of individual gait parameters and CGAM scores revealed that there is evidence of overall reduction of asymmetry in gait for both able-body subject on prosthetic simulators and transfemoral amputee. The transfemoral amputee also walked with a combination of distal mass with lowered knee height. Although this configuration showed better symmetry, the configuration is detrimental in terms of energy costs. Analyzing the data of gait with the stroke simulator showed that the subject’s gait does undergo alterations in terms of overall gait asymmetry. The distal mass and leg length alteration study has revealed some significant findings that are also reflected in the prosthetic study with distal mass. A leg length discrepancy (LLD) or the change of limb mass can result in asymmetric gait patterns. Although adding mass and LLD have been studied separately, this research studies how gait patterns change as a result of asymmetrically altering both leg length and mass at a leg’s distal end. Spatio-temporal and kinetic gait measures are used to study the combined asymmetric effects of placing LLD and mass on the opposite and same side. There were statistically significant differences for the amount of mass and leg length added for all five parameters. When LLD is added to longer leg, the temporal and kinetic gait parameters of the shorter limb and the altered limb’s spatial parameter become more asymmetric. Contrary to the hypothesis, there was no significant interaction between the amount of mass and leg length added. There were cases in all perturbations where a combination of mass and LLD make a gait parameter more symmetric than a single effect. These cases exhibit the potential for configurations with lower overall asymmetries even though each parameter has a slight asymmetry as opposed to driving one parameter to symmetry and other parameters to a larger asymmetry. CGAM analysis of the results revealed that the addition of distal mass contributes more towards overall asymmetry than LLD. Analyzing 11 gait parameters for LLD and mass on the same side showed that the overall asymmetry decreased for the combination of small LLD and mass. This is consistent with the findings from analyzing five individual gait parameters. Impaired subjects include individuals with stroke and amputees. The clinical trials for individuals with stroke involve training with the Gait Enhancing Mobile Shoe (GEMS) that pro- vides an asymmetric effect on the subject’s step length and time. Training with the GEMS showed improvement in clinical measures such as timed up and go (TUG), six minute walk test (6MWT), and gait velocity. The subjects also showed lower step length symmetry as intended by the GEMS. The ground reaction force asymmetries became more asymmetric as the spatial and temporal parameters became more symmetric. This phenomenon shows evidence that when an individual with stroke is corrected, for spatial and temporal symmetry is at the expense of kinetic symmetry. The CGAM scores also reflected similar trends to that of spatial and temporal symmetry and the r2 correlation with the gait parameters proved that double limb support asymmetry has no correlation with CGAM while ground reaction force asymmetry has a weak correlation. Step length, step, and swing time showed high correlation to CGAM. I also found the r2 correlation between the clinical measures and the CGAM scores. The CGAM scores were moderately correlated to 6MWT and gait velocity but had a weak correlation with TUG. CGAM has positive correlation with TUG and has negative correlation with 6MWT and gait velocity. This gives some validation to CGAM as a potential metric that can be used to evaluate gait patterns based on their asymmetries. Transfemoral amputees were tested for their gait with varied prosthetic knee heights to study the asymmetrical effects and trained split-belt treadmill. Asymmetric knee heights showed improvement in multiple gait parameters such as step length, vertical, propulsive, and braking force asymmetry. It also decreased hip and ankle angle asymmetries. However, these improvements did lead other parameters to become more asymmetric. The CGAM scores reflect this and they show overall improvement. Although the lowest knee height showed improvement, the input from the amputee suggested that the quality of gait decreased with the lowest knee height. These exploratory results did show that a slightly lower knee height may not affect the quality of gait but may provide better overall symmetry. Another exploratory study with split-belt treadmill training, similar to the protocol followed for individuals with stroke, showed definitive improvement in double limb support, swing time, step length and time symmetry. This was also reflected in the improvements seem post training in the CGAM scores as well. I found the r2 correlation of the CGAM and the gait parameters including gait velocity. Step length and swing time show consistent correlation for individual subjects and all the data combined to CGAM. Gait velocity shows a moderate correlation to CGAM for one subject and a high correlation to the other one. However, the combined data of gait velocities does not have any correlation with CGAM. These results show that CGAM can successfully represent the overall gait parameter asymmetry. The trends seen in the gait parameters is closely reflected in the CGAM scores. This research combines the study of asymmetry with people’s perception of human gait asymmetry, which will help in estimating the thresholds for perceivable asymmetrical changes to gait. Sixteen videos were generated using motion capture data and Unity game engine. The videos were chosen to represent the largest variation of gait asymmetries. Some videos were also chosen based on CGAM values that were similar but had large variation in underlying gait parameters. The dataset consisted of results of perturbation experiments on able-body subjects and asymmetric knee height prosthesis on transfemoral amputee. These videos were rated on a seven point Likert scale by subjects from 7 being normal to 1 being abnormal. Thirty one subjects took part in the experiment, out of which only 22 subject’s data was used because they rated at least 3 videos. The results show that the subjects were able to differentiate asymmetric gait with perturbations to able-body gait without perturbation at a self-selected speed. r2 correlation analysis showed that hip angle had mild correlation to the Likert scale rating of the 16 different gait patterns. Multivariate linear regression analysis with a linear model showed significant contribution of ankle and hip angles, vertical, propulsive, and braking forces. It is interesting that the majority of parameters that showed significance are not perceivable visually. Ankle and hip angles are visually perceivable and this significance revealed that subjects seemed to perceive asymmetric ankle and hip angles as abnormal. However, the subjects do not perceive asymmetric knee angles as completely abnormal with evidence of no significance, no correlation, and neutral Likert rating for gait patterns that perturbed knee angles.

Cette thèse s'inscrit dans un projet de recherche dont l'objectif est d'améliorer l'autonomie des personnes confinées en fauteuil roulant manuel grâce à des études en situation réelle de locomotion. Un modèle mécanique a été développé mettant en relation les mouvements du système sujet-fauteuil avec les efforts qui s'y exercent. Après avoir étalonné les capteurs nécessaires, plusieurs expérimentations ont permis de valider une méthode d'estimation de la résultante des forces de résistance à l'avancement, et une méthode de reconstruction de la trajectoire suivie par le fauteuil. Enfin, les paramètres biomécaniques qui interviennent dans le modèle ont été quantifiés lors d'une expérimentation en situation réelle qui a permis d'étudier l'influence des mouvements du sujet sur les déplacements du fauteuil. A terme, cette approche devrait permettre de déterminer les paramètres biomécaniques pertinents et d'optimiser les méthodes de rééducation et les réglages des fauteuils