Ce projet s’inscrit dans l’effort développé par l’Agence Spatiale Européenne (ESA)pour robotiser les activités extravéhiculaires à bord de la Station Spatiale Internationale et lors des futures missions d’exploration planétaire. Un aspect important de ces projets concerne le retour de force et la capacité, pour la personne qui commande les mouvements du robot, à ressentir les efforts qui lui sont appliqués. Le but est d’améliorer la qualité et l’immersion de la téléopération. L’objectif de cette thèse est la conception d’une interface haptique de type exosquelette pour le bras, pour ces missions de téléopération à retour de force. Ce système doit permettre une commande intuitive du robot téléopéré tout en reproduisant le plus fidèlement possible les efforts. Les chapitres 2 et 3 présentent les études réalisées sur un banc de test à 1 degré de liberté, destinées à comprendre le contrôle haptique ainsi qu’à évaluer différentes technologies d’actionnements et de capteurs. Les principales méthodes de contrôle sont décrites théoriquement et comparées en pratique sur le banc de test. Les chapitres 4 et 5 décrivent le développement de l’exosquelette SAM destiné aux futures applications de téléopération spatiale. La conception cinématique, le choix des actionneurs et des capteurs sont décrits. Différentes méthodes de contrôle sont également comparées avec des expériences de réalité virtuelle (sans robot esclave) et de téléopération. Pour finir, le chapitre 6 présente le projet EXOSTATION, un démonstrateur de téléopération haptique spatiale, dans lequel SAM est utilisé comme interface maître.

Os isópodos terrestres possuem uma cutícula protetora que mantém a forma corporal, permite locomoção e comunicação com o ambiente e protege contra dessecação, infecção e predação. Assim como nos demais crustáceos, a cutícula é composta por uma matriz orgânica que é mineralizada com cálcio. A cutícula é uma estrutura versátil que reflete adaptações ambientais e a ampla distribuição geográfica do grupo. Dessa forma, a ultraestrutura e a composição da cutícula variam entre espécies. Isópodos terrestres fazem mudas frequentes ao longo da vida para crescer e/ou renovar receptores de superfície, o que resulta em reabsorção e deposição cuticular constante. Esse grupo apresenta muda bifásica e deposição de placas de cálcio nos esternitos anteriores antes da ecdise como estratégia para reciclar o cálcio corporal. Estudos relacionados à cutícula nesse grupo contemplam a ultraestrutura, a composição e a deposição bem como o efeito de alguns fatores ambientais na muda. No entanto, poucos estudos exploram as ligações entre ecomorfologia e história de vida. Essa tese visa explorar diversos aspectos relacionados à cutícula e a muda de duas espécies neotropicais de isópodos terrestres. Atlantoscia floridana e Balloniscus glaber foram usados como modelo uma vez que são frequentemente encontrados nas mesmas localidades e diferem em tipo ecomorfológico e estratégias ambientais. No Capítulo I, foram exploradas as estruturas de superfície e a ultraestrutura da cutícula das duas espécies a fim de ver como as diferenças encontradas podem ser relacionadas à história de vida de cada espécie, utilizando técnicas de microscopia. As espécies diferiram em tipo e disposição das estruturas de superfície bem como em espessura e proporção de camadas da cutícula. De maneira geral, as diferenças das estruturas de superfície estão relacionadas à seleção de microhabitat e nicho ecológico. Características cuticulares ajudam a explicar o hábito endógeno de B. glaber e epígeo de A. floridana enquanto que as diferenças em ultraestrutura são relacionadas a estratégias comportamentais e tolerância ambiental. No Capítulo II, o efeito do cálcio alimentar no ciclo de muda das espécies foi testado. Para isso, dieta experimental e análise estrutural da cutícula foram realizadas a fim de entender como diferentes concentrações de cálcio alimentar interferem na duração do ciclo de muda. Peculiaridades na ecdise em A. floridana refletem morfologia específica do animal. A duração da intramuda foi maior em B. glaber assim como a sobrevivência média nos tratamentos. A duração do ciclo de muda foi influenciada pela concentração de cálcio; uma tendência a menor duração do ciclo com o aumento da concentração de cálcio foi observada em B. glaber, enquanto em A. floridana a diferença encontrada foi apenas entre o controle sem cálcio e os demais tratamentos. Não houve efeito da dieta no grau de mineralização ou na ultraestrutura em B. glaber. Independentemente do tratamento, a maior taxa de mortalidade em laboratório parece estar relacionada com o próprio processo de ecdise, com mortalidade acumulada de 20% do início da ecdise até o início da pós-muda para ambas as espécies. No Capítulo III, a secreção da cutícula durante a pré- e pós-muda muda foi observada utilizando microscopia de transmissão. A deposição seguiu o padrão observado para outros isópodos. Entretanto, grânulos eletrondensos presentes no espaço ecdisial durante a pré-muda são provavelmente constituídos de cálcio, sugerindo a reciclagem de cálcio diretamente da cutícula velha para a nova no mesmo segmento. Esses grânulos são depositados nas escamas na nova epicutícula antes da ecdise, sugerindo a presença de cálcio na superfície cuticular das espécies. Além disso, regiões sem a ultraestrutura típica encontrada na pós-muda indicam que há modificação na exocutícula após a ecdise uma vez que a expansão e endurecimento da nova cutícula apenas após a ecdise. De maneira geral, esse trabalho não apenas trouxe novas informações sobre a estrutura cuticular de duas espécies neotropicias, mas também contribuiu para esclarecer conexões entre ecomorfologia e requerimentos biológicos de isópodos terrestres. / Terrestrial isopods have a protective cuticle that maintains body shape, allows locomotion, enables communication with the environment and protects them against desiccation, infection and predation. As in all crustaceans, their cuticle is composed of an organic matrix that is mineralized with calcium. The cuticle is highly versatile reflecting adaptations to environmental conditions and large geographical distribution of this group. Therefore, cuticle ultrastructure and composition vary among species. Terrestrial isopods molt frequently throughout their lives in order to grow and/or renew surface receptors, resulting in constant cuticular resorption and deposition. In this group, this dynamics of cuticle formation is affected by the biphasic molt and by the calcium deposition on sternal deposits prior ecdysis, strategies to recycle body calcium. Studies related to cuticle on this group include ultrastructure, composition and deposition as well as effect of some environmental factors on molting. However, few studies explore connections of ecomorphology and life history of animals. This thesis aimed to explore various aspects of cuticle structure and molting using two Neotropical species of terrestrial isopods. Atlantoscia floridana and Balloniscus glaber were used as models since they are found in the same locations while differing in ecomorphology and behavioral strategies. In Chapter I, I explored the cuticle surface structures and ultrastructure of both species to see how their differences can be related to each species life history traits, using microscopy techniques. Species differed in surface structures type and disposition, as well as cuticle thickness and layer proportion. Overall, differences in surface structure are related to microhabitat selection and ecological niche. Cuticular features further explain the endogeic habit of B. glaber and epigeic habit of A. floridana, while differences in cuticle ultrastructure relate to behavioral strategies and environmental tolerance. Next, differences on molting cycle and environmental requirements were analyzed. In Chapter II, I tested the effects of dietary calcium on the molting cycle of both species. For that, artificial diet and structural analysis of the cuticle were used to understand how different concentrations of dietary calcium interfere with molt cycle duration. Peculiarities were observed during ecdysis in A. floridana and reflect to specific morphology of the species. Intramolt duration was longer for B. glaber as well as overall survivorship in treatments. Cycle duration was influenced by calcium concentration; a trend of shorter molt cycle length with increasing calcium concentration was observed for B. glaber, while in A. floridana, only difference between control without calcium and other treatments was observed. Degree of mineralization and cuticle ultrastructure of B. glaber showed no difference between treatments. Regardless of treatment or species, higher mortality rate under lab conditions seems to be related to the process of ecdysis itself, with cumulative mortality of 20% from the beginning of ecdysis until the beginning of postmolt. In Chapter III, I used transmission electron microscopy to analyze cuticle secretion in both species during pre- and postmolt stages. Cuticle deposition during premolt followed the same pattern as other terrestrial isopods. Nonetheless, electron dense granules present on the ecdysial space during premolt are likely calcium granules, suggesting the recycling of calcium within the same segment. These granules are deposited on the scales of the new epicuticle prior ecdysis, suggesting the presence of calcium on the cuticular surface of both species. Moreover, regions without typical lamellate ultrastructure during postmolt indicate modification of the exocuticle after ecdysis since expansion and hardening must occur after ecdysis. Overall, this work not only added information on cuticular structure of two Neotropical species but also clarified connections between ecomorphology and biological requirements of terrestrial isopods.

This document presents the development of a first proposal prototype of a rehabilitation exoskeleton hand. The idea was to create a lighter, less complex and cheaper exoskeleton than the existing models in the market but efficient enough to carry out rehabilitation therapies.The methodology implemented consists of an initial literature review followed by data collection resulting in a pre-design in two dimensions using two different software packages, MUMSA and WinmecC. First, MUMSA provides the parameters data of the movement of the hand to be done accurately. With these parameters, the mechanisms of each finger are designed using WinmecC. Once the errors were solved and the mechanism was achieved, the 3D model was designed.The final result is presented in two printed 3D models with different materials. The models perform a great accurate level on the motion replica of the fingers by using rotary servos. The properties of the model can change depending on the used material. ABS material gives a flexible prototype, and PLA material does not achieve it. The use of distinct methods to print has a high importance on the difficulties of development throughout the entire process of production. Despite found difficulties in the production, the model was printed successfully, obtaining a compact, strong, lightweight and eco-friendly with the environment prototype.

Os isópodos terrestres possuem uma cutícula protetora que mantém a forma corporal, permite locomoção e comunicação com o ambiente e protege contra dessecação, infecção e predação. Assim como nos demais crustáceos, a cutícula é composta por uma matriz orgânica que é mineralizada com cálcio. A cutícula é uma estrutura versátil que reflete adaptações ambientais e a ampla distribuição geográfica do grupo. Dessa forma, a ultraestrutura e a composição da cutícula variam entre espécies. Isópodos terrestres fazem mudas frequentes ao longo da vida para crescer e/ou renovar receptores de superfície, o que resulta em reabsorção e deposição cuticular constante. Esse grupo apresenta muda bifásica e deposição de placas de cálcio nos esternitos anteriores antes da ecdise como estratégia para reciclar o cálcio corporal. Estudos relacionados à cutícula nesse grupo contemplam a ultraestrutura, a composição e a deposição bem como o efeito de alguns fatores ambientais na muda. No entanto, poucos estudos exploram as ligações entre ecomorfologia e história de vida. Essa tese visa explorar diversos aspectos relacionados à cutícula e a muda de duas espécies neotropicais de isópodos terrestres. Atlantoscia floridana e Balloniscus glaber foram usados como modelo uma vez que são frequentemente encontrados nas mesmas localidades e diferem em tipo ecomorfológico e estratégias ambientais. No Capítulo I, foram exploradas as estruturas de superfície e a ultraestrutura da cutícula das duas espécies a fim de ver como as diferenças encontradas podem ser relacionadas à história de vida de cada espécie, utilizando técnicas de microscopia. As espécies diferiram em tipo e disposição das estruturas de superfície bem como em espessura e proporção de camadas da cutícula. De maneira geral, as diferenças das estruturas de superfície estão relacionadas à seleção de microhabitat e nicho ecológico. Características cuticulares ajudam a explicar o hábito endógeno de B. glaber e epígeo de A. floridana enquanto que as diferenças em ultraestrutura são relacionadas a estratégias comportamentais e tolerância ambiental. No Capítulo II, o efeito do cálcio alimentar no ciclo de muda das espécies foi testado. Para isso, dieta experimental e análise estrutural da cutícula foram realizadas a fim de entender como diferentes concentrações de cálcio alimentar interferem na duração do ciclo de muda. Peculiaridades na ecdise em A. floridana refletem morfologia específica do animal. A duração da intramuda foi maior em B. glaber assim como a sobrevivência média nos tratamentos. A duração do ciclo de muda foi influenciada pela concentração de cálcio; uma tendência a menor duração do ciclo com o aumento da concentração de cálcio foi observada em B. glaber, enquanto em A. floridana a diferença encontrada foi apenas entre o controle sem cálcio e os demais tratamentos. Não houve efeito da dieta no grau de mineralização ou na ultraestrutura em B. glaber. Independentemente do tratamento, a maior taxa de mortalidade em laboratório parece estar relacionada com o próprio processo de ecdise, com mortalidade acumulada de 20% do início da ecdise até o início da pós-muda para ambas as espécies. No Capítulo III, a secreção da cutícula durante a pré- e pós-muda muda foi observada utilizando microscopia de transmissão. A deposição seguiu o padrão observado para outros isópodos. Entretanto, grânulos eletrondensos presentes no espaço ecdisial durante a pré-muda são provavelmente constituídos de cálcio, sugerindo a reciclagem de cálcio diretamente da cutícula velha para a nova no mesmo segmento. Esses grânulos são depositados nas escamas na nova epicutícula antes da ecdise, sugerindo a presença de cálcio na superfície cuticular das espécies. Além disso, regiões sem a ultraestrutura típica encontrada na pós-muda indicam que há modificação na exocutícula após a ecdise uma vez que a expansão e endurecimento da nova cutícula apenas após a ecdise. De maneira geral, esse trabalho não apenas trouxe novas informações sobre a estrutura cuticular de duas espécies neotropicias, mas também contribuiu para esclarecer conexões entre ecomorfologia e requerimentos biológicos de isópodos terrestres. / Terrestrial isopods have a protective cuticle that maintains body shape, allows locomotion, enables communication with the environment and protects them against desiccation, infection and predation. As in all crustaceans, their cuticle is composed of an organic matrix that is mineralized with calcium. The cuticle is highly versatile reflecting adaptations to environmental conditions and large geographical distribution of this group. Therefore, cuticle ultrastructure and composition vary among species. Terrestrial isopods molt frequently throughout their lives in order to grow and/or renew surface receptors, resulting in constant cuticular resorption and deposition. In this group, this dynamics of cuticle formation is affected by the biphasic molt and by the calcium deposition on sternal deposits prior ecdysis, strategies to recycle body calcium. Studies related to cuticle on this group include ultrastructure, composition and deposition as well as effect of some environmental factors on molting. However, few studies explore connections of ecomorphology and life history of animals. This thesis aimed to explore various aspects of cuticle structure and molting using two Neotropical species of terrestrial isopods. Atlantoscia floridana and Balloniscus glaber were used as models since they are found in the same locations while differing in ecomorphology and behavioral strategies. In Chapter I, I explored the cuticle surface structures and ultrastructure of both species to see how their differences can be related to each species life history traits, using microscopy techniques. Species differed in surface structures type and disposition, as well as cuticle thickness and layer proportion. Overall, differences in surface structure are related to microhabitat selection and ecological niche. Cuticular features further explain the endogeic habit of B. glaber and epigeic habit of A. floridana, while differences in cuticle ultrastructure relate to behavioral strategies and environmental tolerance. Next, differences on molting cycle and environmental requirements were analyzed. In Chapter II, I tested the effects of dietary calcium on the molting cycle of both species. For that, artificial diet and structural analysis of the cuticle were used to understand how different concentrations of dietary calcium interfere with molt cycle duration. Peculiarities were observed during ecdysis in A. floridana and reflect to specific morphology of the species. Intramolt duration was longer for B. glaber as well as overall survivorship in treatments. Cycle duration was influenced by calcium concentration; a trend of shorter molt cycle length with increasing calcium concentration was observed for B. glaber, while in A. floridana, only difference between control without calcium and other treatments was observed. Degree of mineralization and cuticle ultrastructure of B. glaber showed no difference between treatments. Regardless of treatment or species, higher mortality rate under lab conditions seems to be related to the process of ecdysis itself, with cumulative mortality of 20% from the beginning of ecdysis until the beginning of postmolt. In Chapter III, I used transmission electron microscopy to analyze cuticle secretion in both species during pre- and postmolt stages. Cuticle deposition during premolt followed the same pattern as other terrestrial isopods. Nonetheless, electron dense granules present on the ecdysial space during premolt are likely calcium granules, suggesting the recycling of calcium within the same segment. These granules are deposited on the scales of the new epicuticle prior ecdysis, suggesting the presence of calcium on the cuticular surface of both species. Moreover, regions without typical lamellate ultrastructure during postmolt indicate modification of the exocuticle after ecdysis since expansion and hardening must occur after ecdysis. Overall, this work not only added information on cuticular structure of two Neotropical species but also clarified connections between ecomorphology and biological requirements of terrestrial isopods.

Research within the field of human motion assistive device development, with the purpose of reducing the metabolic cost of daily activities, is seeing the benefits of the exclusive use of passive actuators to store and release energy during the gait cycle. Designs of novel exoskeletons at the University of Ottawa implement the Pneumatic Artificial Muscle (PAM) as the primary method of nonlinear, passive actuation. The PAM is proven as a superior actuator for these devices when compared to the linear mechanical springs used by other researchers. There are, however, challenges regarding PAM pressure loss and the limitation of PAM elongation that have been identified. This thesis aims to develop a hyperelastic tubular soft composite that replicates the distinctive mechanical behaviour of the PAM without the need for internal pressurization. The final soft composite solution was achieved by impregnating a prefabricated polyethylene terephthalate braided sleeve, held at a high initial fibre angle, with a silicone prepolymer. A comprehensive experimental evaluation was performed on numerous prototypes for a variety of customizable design parameters including: initial fibre angle, silicone stiffness, and braided sleeve style. Moreover, two separate analytical models were formulated based on incompressible finite elasticity theory using either a structural model of Holzapfel’s type, or a phenomenological model of Fung’s type. Both models were in good agreement with the experimental data that were collected through a modified extension-inflation test. This research has successfully developed, tested, and validated an innovative soft composite that can achieve specific mechanical properties, such as contraction distance and nonlinear stiffness, for optimal use in human motion assistive devices.

Esta dissertação apresenta o projeto e a construção de atuadores elásticos em série para o acionamento das juntas de um exoesqueleto para membros inferiores, baseado em uma órtese comercial. Inicialmente, considerou-se como dispositivo de testes a parte do exoesqueleto referente à junta do tornozelo, ou seja, a construção de uma órtese tornozelo-pé ativa. Atuadores elásticos em série são considerados neste trabalho, pois tais dispositivos apresentam características ideais para a sua utilização em órteses ativas: controle de força, controle de impedância (possibilidade de impedância baixa), absorção de impactos, baixo atrito e largura de banda que se aproxima da movimentação muscular. Um primeiro protótipo do atuador elástico em série foi construído e resultados experimentais de controle de força, impedância e posição foram obtidos com sucesso, através de uma interface de acionamento e controle entre o atuador, os sensores (encoders e sensores de força) e o computador. Também foi construída uma órtese tornozelo-pé ativa acionada pelo atuador elástico em série construído, sendo apresentados os primeiros resultados experimentais obtidos com este dispositivo. / This dissertation deals with the design and construction of series elastic actuators for driving the joints of an exoskeleton for lower limbs, based on a commercial orthosis. Initially, it was considered the construction of the exoskeleton\'s ankle joint, that is, the construction of an active ankle-foot orthosis. Series elastic actuators are considered in this work since these devices have ideal characteristics for use in active orthoses: force control, impedance control (possibility of low impedance), impact absorption, low friction and bandwidth that approximates the muscle movement. A first prototype of the series elastic actuator was constructed and experimental results of force, impedance, and position control were successfully obtained trough of a control interface between the actuators, the sensors (encoders and force sensors) and the computer. Also, an active ankle-foot orthosis, driven by the series elastic actuator, was constructed and the first experimental results achieved with this device are presented.

Etre capable de marcher sans ressentir de douleur, fatigue ou autres altérations est considéré comme une priorité pour les activités quotidiennes et est étroitement lié à la qualité de vie de chacun. De nombreuses atteintes du système neuro-musculo-squelettique peuvent engendrer des altérations de la marche. Une compréhension précise de ces altérations est nécessaire pour optimiser les stratégies thérapeutiques. Parmi ces atteintes, la rétraction musculaire est l'une des plus fréquentes. Elle correspond à un raccourcissement permanent du complexe musculotendineux limitant ainsi la mobilité des articulations. Elle est impliquée dans de nombreuses pathologies (paralysie cérébrale, hémiplégie, pieds bots, brûlures, etc.) L'objectif global de ce travail de thèse était d'étudier les effets des rétractions sur la marche humaine. Pour cela, un dispositif permettant d'émuler des rétractions a été mis en place et évalué. Ce dispositif est composé d'un exosquelette et de cordes permettant de limiter les amplitudes articulaires, simulant ainsi la rétraction des principaux muscles des membres inférieurs atteints par cette pathologie. Grâce à ce dispositif, l'effet des rétractions des muscles a été analysé. Des rétractions isolées ont été émulées sur 35 participants unilatéralement et bilatéralement et une analyse quantifiée de la marche a été réalisée. Les patterns cinématiques obtenus sur chaque articulation ont été ensuite utilisés pour analyser les liens entre altérations de marche et rétractions musculaires. Il a été montré que la rétraction des gastrocnemius peut provoquer un pattern de marche genoux fléchis, alors qu'une rétraction du soleus montre peu de modifications de la cinématique du genou. De plus, le lien entre la sévérité de la rétraction des gastrocnemius / soleus et la progression de la marche digitigrade (augmentation de la flexion plantaire pendant la marche) n'est pas linéaire. La marche «genoux fléchis» peut être causée par les rétractions des ilio-psoas, ischio-jambiers et gastrocnemius. Des patterns cinématiques particuliers ont été identifiées en lien avec les muscles responsables de la marche «genoux fléchis». Il a été également montré que les rétractions des muscles du membre inférieur ont des effets importants spécifiques sur la position moyenne du tronc et du bassin dans le plan sagittal. Derrière son objectif scientifique, les résultats obtenus dans ce projet ont le potentiel d'améliorer le choix des stratégies de traitement et donc d'avoir un impact sur la qualité de vie des patients / Preserving or restoring the ability to walk without pain, fatigue or any gait alterations is considered a priority for activities of daily living and is closely related to quality of life. Numerous alterations of the neuro-musculo-skeletal system lead to gait deviations. To treat these alterations, a precise understanding of gait deviations is required. For patients with gait disorders, instrumented gait analysis can be performed to measure precisely the gait deviations. Among the varied causes of gait alterations, one of the most frequent is contractures that affect numerous pathologies. It corresponds to a permanent shortening of a musculo-tendinous complex limiting the mobility of the joints. It is involved in many pathologies (cerebral palsy, stroke, clubfoot, burns, etc.) The global objective of this thesis was to study the effects of contractures on human walking. For this purpose, a device for emulating contractures has been built and evaluated. This device consists of an exoskeleton and ropes to limit joint range of motion of the major lower limb muscles affected by contractures. With this device, the effect of contractures of the musculo-tendinous complex was analysed. Isolated contractures were emulated on 36 participants unilaterally and bilaterally and an instrumented gait analysis was performed. The kinematic patterns obtained for each joint were then used to link kinematic gait alterations with muscle contractures. It has been shown that contracture of gastrocnemius can cause a knee flexion pattern, while a contracture of the soleus shows moderate changes in knee kinematics. Moreover, the relationship between the level of contracture of gastrocnemius / soleus and the progression of the equinus gait (increase in plantar flexion during walking) is not linear. «Knee flexion» gait pattern may be caused by the contractures of the iliopsoas, hamstrings and gastrocnemius. Particular kinematic patterns have been identified in relation to the muscles responsible to the «knee flexion» gait pattern. It has also been shown that retractions of the muscles of the lower limb have important specific effects on the mean position of the trunk and pelvis in the sagittal plane. Behind the scientific objective, the results of this project have the potential to improve the choice of treatment strategies and therefore to have an impact on patient’s quality of life

Les exosquelettes représentent des systèmes mécaniques portables qui ont reçu une grande attention de la part de la communauté scientifique ces derrières années, vues les possibilités qu'ils offrent.Ces possibilités concernent principalement les fonctions d'assistance et de réhabilitation des personnes en situation de handicape et personnes âgées, dans un objectif de leur permettre de recouvrir leur facultés motrices. Cependant, d'autres possibilités sont concernées comme permettre à des personnes paraplégiques de remarcher ou de permettre des opérations de manipulation excédent les capacités humaines.Pour permettre la réalisation des fonctions offertes par les robots portables, une connaissance fine de la dynamique du système est requise en relation avec les tâches à réaliser par les sujets. Par ailleurs, des approches de commande sûres qui prennent en compte la sécurité des usagers est nécessaire. Dans cet objectif, des techniques de commande bio-inspirées avec des techniques de commande par découplage non-linéaire sont considérées. Les dernières assurent que la loi de commande est stable et bornée en prenant en considération le domaine de saturation des actionneurs alors que les premières ont inspiré la conception de contrôleurs basés sur les oscillateurs locaux non-linéaires (Central Pattern Generators : CPG).Les CPGs sont modélisés par des réseaux de neurones qui peuvent être représentés par un ensemble d'oscillateurs non-linéaires situés dans la moelle épinière, avec des capacités de génération de signaux rythmiques multidimensionnels synchrones pour remplir des fonctions motrices sous le contrôle de simples signaux de commande. Ces signaux sont supposés être de nature périodique ou semi-périodique, dont la génération pour étudier les systèmes de locmotion humain reste un problème de recherche d'actualité.Dans la présente thèse, l'analyse, la simulation et la commandes des articulations d'un robot portable utilisé pour les membres inférieurs en utilisant, d'un côté les oscillateurs locaux non-linéaires et d'un autre côté des techniques de commande par découplage non-linéaire sont proposés, avec comme objectif final de permtre la mise en œuvre des approches proposées sur la plate-forme expérimentale développée au sein du FSATI (French South African Institute fo Technology).Pour atteindre l'objectif qui a été fixé par les travaux de recherche engagés, une étude de l'état de l'art sur les aspects liés à la connaissance de l'anatomie, la physiologie et l'analyse biomécanique de la marche humaine a été effectuée. Par ailleurs, une étude détaillée des oscillateurs locaux non-linéaires en parallèle avec les approches de commande directe et inverse, ont permis la proposition de stratégies de commande qui couplent les oscillateurs non-linéaires d'un côté et des techniques de découplage non-linéaire d'un autre côté ont été proposées et validées sur des systèmes de plusieurs degrés de liberté. Des simulations intensives ont été conduites afin de vérifier la capacité d'adaptation temps des approches de commandes mises en œuvre avec l'humain ans la boucle.Les contributions de la présente étude concerne deux approches de commande. La première approche concerne l'intégration d'une approche bio-inspirée, basée sur les oscillateurs locaux non-linéaires et la deuxième approche est basée sur les techniques de commande bornée par découplage non-linéaire / Wearable robotic system has become a well sought after mechanism in the field of biomechatronics engineering due to the the various possibilities it possess. These possibilities encompass the assistive and rehabilitative protocols rendered to disabled and elderly people, in order to enable them regain control of their limbs and of course increase the abilities of able-bodied persons. It therefore clearly drives the motive of bringing back paraplegics back on their feet as well as executing difficult task beyond human ability.Achieving the intended function of wearable robots requires the model dynamics of the physical system in relation to the tasks required to be performed by subjects. This demands a proper control measure which takes into account the safety of the wearer. For this purpose, bio-inspired control techniques and bounded nonlinear feedback controllers are considered. The latter control design ensures that the stipulated power required is not exceeded as well as the saturation of the actuator, while the former motivates the design of controllers based on the concept of Central Pattern Generators (CPG). CPGs are characterised as biological neural networks which can be represented by a set of coupled nonlinear oscillator situated in the spinal cord of mammals, having the capability of generating coordinated multidimensional rhythmic signals for the purpose of locomotion, under the control of simple input signals. These rhythmic signals are termed to be periodic or quasi-periodic in nature, hence performing this task in robotics and animal motor control has been a perpetual research problem. The movement of the lower limb of humans thus present a platform to investigate and address this difficulty.In this thesis, the analysis, simulation, and control of joints which relate to the human lower limbs via CPGs and feedback control techniques are investigated with an aim of practically implementing the control strategies using a lower limb exoskeleton is presented. To accomplish this goal, it is expedient to have comprehensive knowledge of the anatomy, physiology and the normal gait biomechanics of the human lower limbs. Understanding the theories, principles and mathematical background of nonlinear oscillators are also required. Control strategies using the inverse and the forward dynamics approach based on different types of coupled nonlinear oscillators and nonlinear feedback control techniques were considered for single/multiple degrees of freedom (DoF). Simulations and results were presented to verify the controller-human system ability to constantly and dynamically track and readapt its control parameters to maintain its desired motion dynamics, with reduced control torque values.This work basically deals with two distinct method of control systems; one which integrates bio-inspired methods with classical and nonlinear control techniques to govern the exoskeletons' joints with a human in the loop, and another which utilises bounded nonlinear feedback control techniques for same purpose

In this thesis, a passive exoskeleton spine was designed and evaluated by a series of biomechanics simulations. The design objectives were to reduce the human operator’s back muscle efforts and the intervertebral reaction torques during a full range sagittal plane spine flexion/extension. The biomechanics simulations were performed using the OpenSim modeling environment. To manipulate the simulations, a full body musculoskeletal model was created based on the OpenSim gait2354 and “lumbar spine” models. To support flexion and extension of the torso a “push-pull” strategy was proposed by applying external pushing and pulling forces on different locations on the torso. The external forces were optimized via simulations and then a physical exoskeleton prototype was built to evaluate the “push-pull” strategy in vivo. The prototype was tested on three different subjects where the sEMG and inertial data were collected to estimate the muscle force reduction and intervertebral torque reduction. The prototype assisted the users in sagittal plane flexion/extension and reduced the average muscle force and intervertebral reaction torque by an average of 371 N and 29 Nm, respectively.

Bakgrund: Stroke drabbar miljontals människor världen över varje år och medför ofta ensidiga motoriska nedsättningar som allvarligt reducerar förmågan till självständighet i vardagen. Fysioterapin efter stroke sker därför vanligen genom uppgiftsorienterad träning riktad mot att rehabilitera den motoriska förmågan på den affekterade sidan så att patienten kan återgå till ett självständigt liv. Men processen ställer stora krav på patienten som inte alltid kan förväntas uppnå bästa resultat med sin rehabilitering. Därför forskas det alltmer på innovativa teknologiska hjälpmedel med potential att assistera strokepatient såväl som fysioterapeut i rehabiliteringen. Exoskelett och hjärndatorgränssnitt (BCI) är två sådana hjälpmedel som undersöktes i denna studie. Syfte: Studien hade syftet att sammanställa det vetenskapliga stödet för tillämpning av BCI-styrda exoskelett (BCI-Exo) vid rehabilitering av motorisk arm- och handfunktion efter stroke i dess subakuta samt kroniska fas. Metod: Litteratursökningar utfördes i databaserna PEDRO, PUBMED, AMED och CINAHL vilket gav 22 träffar som efter granskning och sållning resulterade i att fyra artiklar inkluderades i studien. Resultat: Samtliga studier redovisade statistiskt signifikanta förbättringar av motorisk handfunktion i interventionsgruppen jämfört med kontrollgruppen utifrån de utfallsmått som tillämpades. Konklusion: Resultatet indikerade att BCI-Exo kan främja återhämtning och neuroplasticitet för strokepatienter oavsett vilken fas de infinner sig i. Dock är teknologin fortfarande relativt ny varvid fler studier behöver utföras för att bättre specificera och förstå för- och nackdelar jämfört med konventionella behandlingsmetoder. / Background: Stroke affects millions of people around the world each year and often results in unilateral motor impairments that severely reduce the ability for independence in everyday life. Physiotherapy after stroke is therefore usually performed through task-oriented training aimed at rehabilitating the motor functional ability of the affected side so that the patient can return to an independent life. But the process places great demands on the patient who cannot always be expected to achieve the best results from their rehabilitation. Therefore, innovative technologies are increasingly being researched with the potential to assist stroke patients as well as physical therapists in the rehabilitation process. Exoskeletons and brain-computer interfaces (BCI) are two such rehabilitative tools that were investigated in this study. Objective: The study aimed to compile the scientific support for the use of BCI-controlled exoskeletons (BCI-Exo) in motor functional arm and hand rehabilitation after stroke in its subacute and chronic phase. Method: Literature searches were conducted in the databases PEDRO, PUBMED, AMED and CINAHL, which resulted in 22 hits which, after review and screening, resulted in four articles being included in the study. Results: All studies reported statistically significant improvements regarding motor function in the hemiplegic hand in the intervention group compared to the control group based on the outcome measures used. Conclusion: The results indicated that BCI-Exo can promote recovery and neuroplasticity after stroke regardless of its phase. However, the technology is still in its early stages and more studies need to be performed to better specify and understand the advantages and disadvantages compared to conventional treatment methods.