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The paleobiology of the Pleistocene North American giant short-faced bear, Arctodus simus, has eluded paleontologists for decades. Its more gracile form has led past researchers to myriad intepretations of the locomotion and feeding ecology of this species. While earlier studies have focused on craniodental morphology and simple postcranial indices, it is forelimb morphology that represents a direct compromise between locomotor and foraging behavior. The study here uses traditional and 3D landmark morphometrics to more completely compare the 3-dimensional shape of the major forelimb elements and their muscle attachment sites between A. simus, extant ursids, and other carnivorans. Results herein agree well with previous studies and provide additional evidence for reduced abductor/adductor and supinator/pronator musculature, more restricted parasagittal motion, increased stride length, and lighter and more packed distal elements. Forelimb skeletal morphology therefore supports the hypothesis that A. simmus represents a bear in the early stages of cursorial evolution.

This paper reports preliminary investigations into gaze teleportation, a locomotion interaction inside virtual reality in which the user can push a button and teleport to the point at which they are looking. The results could help future application creators design intuitive locomotion interfaces to allow users to more easily scale virtual worlds larger than their play space. In a study consisting of 12 participants, gaze teleportation was compared to the conventional hand-tracked controller. Participants played a portion of Valve’s The Lab with an HTC Vive and a Tobii Eyetracker; half of the participants completed the set tasks with gaze teleportation, and the other half used hand-tracking. Using Likert questions, they then rated their experiences in terms of enjoyment, frustration, effort, distance, occlusion, immersion, and motion sickness. After answering the questions, the participants got to try both methods and were interviewed on their preferences and opinions. Our results suggest that gaze teleportation is an enjoyable, fast, intuitive, and natural locomotion method that performs similarly to hand-tracked teleportation but is preferred by users when they are given a choice. We conclude that gaze teleportation is a good fit for applications in which users are expected to locomote in their direction of focus without too many distractions. / I det här dokumentet rapporteras preliminära resultat av blickteleportation, en rörelseinteraktion för virtuella verkligheter där användaren kan trycka på en knapp och teleportera till den punkt som de tittar på. Resultaten kan hjälpa framtida applikationsskapare att designa intuitiva rörelsegränssnitt så att användarna lättare kan röra sig i virtuella världar som är större än deras spelrum. I en studie med 12 deltagare jämfördes blick med teleportation med den konventionella handkontroll metoden. Deltagarna spelade en del av Valve’s The Lab med en HTC Vive och en Tobii Eyetracker; Hälften av deltagarna slutförde de uppsatta uppgifterna med blickteleportation, och den andra hälften använde handmetoden. Med Likert-frågor bedömde de sedan sina erfarenheter när det gällde njutning, frustration, ansträngning, avstånd, ocklusion och rörelsesjuka. Efter att ha besvarat frågorna fick deltagarna prova båda metoderna och intervjuades om sina preferenser och åsikter. Våra resultat tyder på att blickteleportation är en trevlig, snabb, intuitiv och naturlig rörelseinteraktion som presterar likt handmetoden, men föredras av användarna när de får välja. Vi drar slutsatsen att blickteleportation passar bra för applikationer där användarna förväntas förflytta sig i samma riktning som deras fokus.

Motor intent and control rely on complex high-level and spinal networks. Untilnow, little is known about this system’s organization and mechanisms. Whilecognitive abilities play an essential role in planning movements, learning andmemorizing, their involvement during stereotyped tasks execution, aslocomotion, is still controversial. Recently, the relationship between cognitivefunctions and gait has received increasing attention.Here, a machine learning approach is used to investigate the engagement ofdi↵erent cortical areas during motor activity. In particular, data coming fromthree subjects with implanted electrodes have been analyzed in the frequencydomain to predict their tasks’ state. The choice of intracortical data hasallowed to elude motion artifacts’ presence and exploitation concern. Goodand satisfactory results have been achieved in the case of not highlystereotyped activity. During ambulation, an evidence of an engagement of thebrain has been shown even if with lower classification performances. Moreover,the cortical areas that have emerged in this analysis seem to be in line withthe relative functionality hypothesized in literature.

Que ce soit à des fins d'amélioration de la performance ou de réhabilitation physique, l'analyse de la condition physique et de la locomotion occupe de nos jours une importante place dans le domaine des soins santé. La récente démocratisation des microcontrôleurs et de leur suite de capteurs a permis la venue de nouvelles modalités d'évaluation de la locomotion (p. ex. l'analyse cinématique avec systèmes inertiels). Ce mémoire présente le développement d'un véhicule autonome de petite taille permettant la capture vidéo d'un participant selon un suivi adaptatif utile à des fins d'analyse du mouvement et la réalisation d'évaluation de la condition physique en dehors des milieux de laboratoires et cliniques (p. ex. Salle instrumentée, tapis roulant). Le robot, fabriqué à faibles coûts, est basé sur la plateforme Raspberry Pi. De façon à conduire une collecte en milieu écologique, celui-ci est placé sur une piste d'athlétisme intérieure sur laquelle il peut se déplacer de manière autonome dans les corridors en suivant les lignes selon un algorithme de reconnaissance visuelle et d'automatisation. L'instrumentation embarquée du véhicule permet l'évaluation du participant en mode « suivi », c'est-à-dire en suivant la cadence en conservant une distance constante et sécuritaire. Le mode meneur de train » impose quant à lui une cadence au participant. Ce mode peut aussi être utilisé à des fins d'analyse de la performance ou d'entrainement. Au cours de ce document, les modalités de conception et de fabrication seront présentées. Les méthodes de vision par ordinateur pour la conduite autonome développée pour un ordinateur à faible coût et de faible puissance seront détaillées. Les résultats d'essais effectués sur une piste d'athlétisme intérieure permettant de démontrer les performances et limitations du véhicule sont présentés. Les résultats obtenus sont discutés. Finalement, de nouvelles approches pour l'évaluation de la condition physique seront proposées. / Whether for performance enhancement or physical rehabilitation, the analysis of fitness and locomotion occupies an important place in today's healthcare. The recent democratization of microcontrollers and their suite of sensors has allowed the emergence of new methods for evaluating locomotion (e.g., kinematic analysis with inertial systems). This dissertation presents the development of an autonomous vehicle of small size allowing the video capture of a participant according to an adaptive tracking that could be used for movement analysis and physical condition evaluations performed outside of laboratory environments and clinics (e.g., Instrumented room, treadmills). The robot, manufactured at low cost, is based on the Raspberry Pi platform. In order to conduct a video data acquisition in an ecological environment, it is placed on an indoor running track on which it can move independently in the corridors by following the lane lines according to a visual recognition and automation algorithm. The onboard instrumentation of the vehicle allows the participant to be evaluated in "follow-up" mode, that is to say by following the pace while maintaining a constant and safe distance with the assessed participant. The "pacesetter" mode, for its part, imposes a pace on the participant. This mode can also be used for performance analysis or training purposes. Throughout this document, the design and manufacturing methods will be presented. Computer vision methods for autonomous driving developed for a low cost, low-power computer will be detailed. The results of tests carried out on an indoor running track to demonstrate the performances and limitations of the vehicle are presented. Finally, new approaches for fitness assessment will be proposed.

We present an exploration into realistic locomotion interfaces in video games using spatially convenient input hardware. In particular, we use Nintendo Wii Remotes to create natural mappings between user actions and their representation in a video game. Targeting American Football video games, we used the role of the quarterback as an exemplar since the game player needs to maneuver effectively in a small area, run down the field, and perform evasive gestures such as spinning, jumping, or the "juke". In our study, we developed three locomotion techniques. The first technique used a single Wii Remote, placed anywhere on the user's body, using only the acceleration data. The second technique just used the Wii Remote's infrared sensor and had to be placed on the user's head. The third technique combined a Wii Remote's acceleration and infrared data using a Kalman filter. The Wii Motion Plus was also integrated to add the orientation of the user into the video game. To evaluate the different techniques, we compared them with a cost effective six degree of freedom (6DOF) optical tracker and two Wii Remotes placed on the user's feet. Experiments were performed comparing each to this technique. Finally, a user study was performed to determine if a preference existed among these techniques. The results showed that the second and third technique had the same location accuracy as the cost effective 6DOF tracker, but the first was too inaccurate for video game players. Furthermore, the range of the Wii remote infrared and Motion Plus exceeded the optical tracker of the comparison technique. Finally, the user study showed that video game players preferred the third method over the second, but were split on the use of the Motion Plus when the tasks did not require it.

The objectives of this study were to implement force sensors on the feet of a bipedal robot and analyze their response at different conditions. The data will be used to design a control strategy for the robot. The powered joints of the robot are driven by linear motors. A force sensor circuit was made and calibrated with different kinds of weight. A trajectory generator and inverse kinematics calculator for the robot were made to control the robot walking movement in an open-loop manner. The force data were taken at a certain period of time when the robot was in a standing position. Experiments with external disturbances were also performed on the robot. The ZMP position and mass of the robot were calculated by using the data of force sensors. The force sensor circuit was reliable in taking and handling the data from the sensor although the noise from the motors of the robot was present. / <p>Validerat; 20111115 (anonymous)</p>

Une sélection artificielle pour augmenter le comportement de course volontaire chez la souris, Mus domesticus, a généré des lignées montrant une augmentation d'ordre 3 du nombre de tours effectués dans la roue d'entraînement. Un phénotype inhabituel appelé « mini-muscle » (petits muscles, distribution des fibres désorganisées, augmentation du niveau des enzymes mitochondriales) est apparu dans certaines des lignées sélectionnées. La présente étude examine si un changement dans les types de fibres musculaires pourrait être en cause. En fait, l'électrophorèse des chaînes lourdes de myosine et l'histochimie montrent que les lignées sélectionnées et contrôles possèdent les mêmes types de fibres dans le muscle tibialis, alors que chez les « mini-muscles », il manque les fibres de type IIB et les chaînes lourdes de myosines correspondantes. Les « mini-muscles » montrent également une augmentation de l'activité de l'hexokinase et de la citrate synthase comparativement aux muscles de taille normale. / Une sélection artificielle pour augmenter le comportement de course volontaire chez la souris, Mus domesticus, a généré des lignées montrant une augmentation d'ordre 3 du nombre de tours effectués dans la roue d'entraînement. Un phénotype inhabituel appelé « mini-muscle » (petits muscles, distribution des fibres désorganisées, augmentation du niveau des enzymes mitochondriales) est apparu dans certaines des lignées sélectionnées. La présente étude examine si un changement dans les types de fibres musculaires pourrait être en cause. En fait, l'électrophorèse des chaînes lourdes de myosine et l'histochimie montrent que les lignées sélectionnées et contrôles possèdent les mêmes types de fibres dans le muscle tibialis, alors que chez les « mini-muscles », il manque les fibres de type IIB et les chaînes lourdes de myosines correspondantes. Les « mini-muscles » montrent également une augmentation de l'activité de l'hexokinase et de la citrate synthase comparativement aux muscles de taille normale. / Artificial selection of mice, Mus domesticus, for voluntary wheel running has generated lines that show a threefold increase in wheel running. An unusual « mini-muscle » phenotype (small muscles, disorganised fibre distribution, increased mitochondrial enzyme levels) has appeared in certain selected lines. This study examined whether changes in muscle fibre types could explain these modifications. Although selected and control lines did not differ in fibre types present in the tibialis, as assessed by electrophoresis of myosin heavy chains and by histochemistry, «mini-muscles» lack type IIB fibres and the corresponding myosin heavy chains. The mini-muscles show also increased activities of hexokinase and citrate synthase compared to the normally sized muscles. / Artificial selection of mice, Mus domesticus, for voluntary wheel running has generated lines that show a threefold increase in wheel running. An unusual « mini-muscle » phenotype (small muscles, disorganised fibre distribution, increased mitochondrial enzyme levels) has appeared in certain selected lines. This study examined whether changes in muscle fibre types could explain these modifications. Although selected and control lines did not differ in fibre types present in the tibialis, as assessed by electrophoresis of myosin heavy chains and by histochemistry, «mini-muscles» lack type IIB fibres and the corresponding myosin heavy chains. The mini-muscles show also increased activities of hexokinase and citrate synthase compared to the normally sized muscles.

Autonomous robots are employed in several important tasks, for example, from health care to military and defense applications involving operations in hazardous and inaccessible environments. Legged autonomous robots can be advantageous due to high adaptability and stability over any terrain, superior obstacle avoidance capability, and advantages through redundancy by utilizing multiple legs. Compared to rigid-legged robots, flexible-legged robots are highly compliant, suitable for non-destructive inspection applications, and possess enhanced gait control with improved energy efficiency. An approach to designing flexible-legged robots is to mimic desirable features evolved via natural selection in biological organisms. Conceptualizing new biologically inspired flexible-legged robots can expand the usability and improve the efficiency of robots in different applications. In this project, the inspiration for locomotion design is the mobility principle utilized by small-scale organisms in the form of beating protrusions referred to as cilia or flagella. Notably, the collective beating dynamics of ciliary arrays reveal essential characteristics such as synchronization, phase locking, and metachronal coordination suitable for terrestrial and aquatic robot locomotion. This thesis presents the formulation, simulation, and analysis of a planar bio-inspired flexible-legged robot for terrestrial locomotion. Each leg of the robot is modeled as a bundle of flexible filaments using constrained Euler elastica that is suitable to describe some of the characteristics of cilia or flagella. The legs/protrusions are mechanically coupled through the base, representing the robot's payload, via linear springs or elastic lumped elements, to produce certain desired collective beating patterns upon individual moment actuations. The locomotion mechanism is illustrated in simulation, wherein the results pave the ground for future work with refined modeling to account for hardware implementation constraints.

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