Globally, sport plays a significant role and forms part of every modern person’s life, irrespective of race, age, gender or ethnic group. Researchers on this topic increasingly focus on the early identification of talent and the development of the talent to ensure optimal performance. One of the most critical trademarks of human development is die correlation between age and physical ability. The primary reason why people participate in sport is to improve their level of participation and performance. Therefore every effort should be made to obtain a more scientific approach towards optimal sports performance, seeing that it is scientifically proven that it improves the effectiveness of a specific sport with regards to the selection and preparation of individuals and teams. In present time South African sport is still facing the challenge to successfully integrate previously disadvantaged communities and to select teams purely on merit. The use of scientific evaluation criteria in the selection process of teams can make a definite contribution to help solidify the selection principle of merit only. This is due to the fact that scientifically, assessed physical performance can not merely be ignored or overruled in the selection of teams. The primary objective of this study was first of all to establish whether different norms will be needed for different playing positions in netball and if the assessments that are currently used are able to accurately predict the highest level that players will be able to play at. In the second instance, the objective of this study was to try and determine which components should be part of a set of netball specific evaluation criteria. To accomplish this objective research was done to find many different test protocol and to find literature that would verify the protocol. A third objective was to identify the positional qualities that netball players have to comply to, based on the selected evaluation criteria, and to select the best tests to be used for talent identification. In other words what the minimum test requirements would be to accomplish maximum data gathering. The developed protocol consisted of three (3) motor tests, four (4) physical tests and three (3) kinanthropometrical tests. The research group used in this study consisted of 304 senior netball players i.e. players older than 19 years of age. These players were categorized into three groups, namely players competing at club, national and international level. With the presentation of the statistical analysis, percentile ranks were developed and a 100 research candidates per positional group was used; i.e. 300 netball players in total. Furthermore an ANOVA was used to determine whether there were significant differences between the three positional groups. An analysis was done to determine if the evaluation criteria could discriminate between players from different positional groups. The analysis was merely used as a classification method and did not serve to evaluate die significance of differences. The results delivered position-specific norms. A function for predicting the identification of talented and less talented players was also developed. Although the study showed certain limitations, the research can be utilized to further develop scientific talent identification criteria for netball and this will be to the advantage of sports scientists and coaches involved with netball. / Thesis (DPhil (Human Movement Science))--University of Pretoria, 2008. / Biokinetics, Sport and Leisure Sciences / DPhil / unrestricted

No description available.

No description available.

Les chutes chez les personnes âgées ont été attribuées à une baisse de la fonction proprioceptive ainsi qu'à une incapacité à allouer suffisamment d’attention au maintien de l'équilibre dans des conditions multitâches. Cette étude vise à explorer l'interaction entre les demandes proprioceptive et attentionnelle du contrôle postural dynamique de la personne âgée. Des adultes sédentaires âgés et jeunes ont effectué une tâche de limite de la stabilité posturale avec et sans vision ainsi qu’une tâche attentionnelle secondaire de soustraction mathématique (n-3). Ces deux tâches étaient effectuées soit seul (tâche simple) ou simultanément (tâche double). La force de réaction au sol a été collectée à 200 Hz en utilisant une plateforme de force AMTI et les déplacements des centres de pression (COP) ont été analysés. Les limites fonctionnelles de la stabilité ont été quantifiées comme l'excursion maximale du COP pendant l'inclinaison volontaire du corps dans chaque direction. Nous avions émis l'hypothèse que les plus grandes différences liées à l'âge seraient observées dans la condition de tâche double en raison des limitations des ressources attentionnelles pour faire face simultanément à des exigences proprioceptives et cognitives élevées. Nos résultats indiquent que l’addition de la tâche attentionnelle n’a pas influencé les limites de stabilité posturales des participants. Cependant, les personnes âgées ont significativement diminué leur performance dans la tâche attentionnelle lorsqu’ils ont effectué simultanément la tâche posturale, particulièrement en l’absence de vision. Ces résultats supportent l’idée d’une interaction entre les demandes proprioceptives et attentionnelles du contrôle postural dynamique chez la personne âgée. / Falls among seniors have been attributed to declines in proprioceptive function as well as an inability to efficiently allocate attention to balance in multi-task conditions. This study aims to explore the interaction between the proprioceptive and attentional demands for dynamic postural control in seniors. Old and young sedentary adults performed a postural stability limit task with and without vision as well as a secondary attentional subtraction task (n-3). These two tasks were performed either alone (single task) or simultaneously (dual-task). Ground reaction force was collected at 200 Hz using an AMTI force platform and centre of pressure (COP) was analyzed. The functional limits of stability were quantified as the maximum COP excursion during voluntary leaning in each direction. We hypothesized that the greatest age-related differences would be seen under the dual-task condition because of limitations in attentional resources available for concurrently coping with high proprioceptive and cognitive demands. Our findings indicated that the stability limits of both subject groups were not influenced by the addition of the cognitive attentional task. However, seniors markedly decreased their performance in the cognitive task while simultaneously performing the postural task and this trend was accentuated in the absence of vision. These results support the idea of an interaction between the proprioceptive and attentional demands of dynamic postural control in seniors.

No description available.

<p>I&scaron;ča&scaron;enje, luksacija ili dislokacija ča&scaron;ice (patele), predstavlja povredu kolena prilikom koje dolazi do pomeranja patele iz patelofemoralnog dela zgloba kolena. Pri ovoj povredi dolazi do o&scaron;tećenja medijalnih mekotkivnih struktura kolena koje su zadužene za pravilno pomeranje ča&scaron;ice unutar patelofemoralnog zgloba. Nakon prve povrede kod velikog borja pacijenata razvije se hronična nestabilnost patelofemoralnog zgloba sa posledičnim recidivantnim luksacijama patele. Mehanizam nastanka hronične nestabilnosti nije u potpunosti razja&scaron;njen i smatra se multifaktorijalnim, a za jedan od faktora smatra se naru&scaron;avanje neurolo&scaron;ke regulacije pokreta kolena. Propriocepcija je složen neurolo&scaron;ki mehanizam koji nam omogućava mentalno mapiranje delova tela, sprečavajući prekomerne i nepravilne pokrete koji mogu dovesti do povređivanja. Za njegovu procenu u zglobu kolena najče&scaron;će se procenjuje osećaj pozicije zgloba (JPS &ndash; eng. &bdquo;Joint Position Sense&ldquo;) kao jedne od komponenti propriocepcije. Nerazja&scaron;njeno je koji je najbolji način za njegovu procenu u pogledu izbora različitih uglova fleksije kolena i pozicija ispitanika, ali i kakav je uticaj povreda struktura kolena na njega. U istraživanju su učestvovale isključivo osobe ženskog pola (15-17 godina), svrstane u tri kategorije od po 30 ispitanika. Prvu, kontrolnu grupu, činile su zdrave ne sportistkinje; drugu, grupu sportistkinja, činile su ispitanice koje su se takmičarski bavile ko&scaron;arkom; treću, grupu pacijentkinja, činile su osobe sa luksacijom ča&scaron;ice kolena. Za merenje JPS kori&scaron;ten je VICON optički sistem (&copy;Vicon Motion Systems Ltd. UK registered no. 1801446) za analizu pokreta. Za svaku grupu meren je JPS metodom pasivnog pozicioniranja-aktivne reprodukcije sa kolenom u različitim nivoima fleksije (30&deg;, 45&deg; i 60&deg;), u uspravnom, ležećem i sedećem položaju, nakon čega su rezultati bili poređeni između grupa. Na&scaron;i rezultati su pokazali da odabir pozicije ispitanika i ugla merenja ne utiče na JPS u zdravim populacijama, kontrolnoj grupi i grupi sportiskinja, niti postoji statistički značajna razlika odgovarajućih pozicija i uglova između ovih grupa. Za grupu pacijentkinja dobili smo da postoji deficit propriocepcije, i da je sedeći stav najosetljivijim za procenu deficita osećaja pozicija zgloba kolena. U odnosu na odgovarajuće uglove kontrolne grupe i grupe sportistkinja, kod pacijentkinja postoji statistički značajno veća gre&scaron;ka traženih uglova u sedećem stavu, zbog čega je ovaj stav karakterističan za ovu grupu. Takođe smo uočili da je najveća razlika pri uglu od 45&deg;, čineći ga kritičnim uglom za grupu pacijentkinja. Ono &scaron;to je ključni zaključak je da nakon povrede kolena po tipu luksacije ča&scaron;ice postoji neurolo&scaron;ki deficit kontrole pokreta kolena, koji potencijalno može dovesti do daljeg povređivanja. Obzirom da je JPS metod kumulativne procene proprioceptivnog sistema, dalja istraživanja bi trebala da budu usmerena na određivanje mesta o&scaron;tećenja istog, čime bi se postiglo bolje razumevanje funkcionisanja sistema regulacije pokreta kao i mogućnost sprovođenja efikasnijeg lečenja nakon povrede kolena.</p> / <p><!--[if gte mso 9]><xml> <o:DocumentProperties> <o:Author>Vukadin Milankov</o:Author> <o:Version>16.00</o:Version> </o:DocumentProperties> <o:OfficeDocumentSettings> <o:AllowPNG/> </o:OfficeDocumentSettings></xml><![endif]--><!--[if gte mso 9]><xml> <w:WordDocument> <w:View>Normal</w:View> <w:Zoom>0</w:Zoom> <w:TrackMoves/> <w:TrackFormatting/> <w:PunctuationKerning/> <w:ValidateAgainstSchemas/> <w:SaveIfXMLInvalid>false</w:SaveIfXMLInvalid> <w:IgnoreMixedContent>false</w:IgnoreMixedContent> <w:AlwaysShowPlaceholderText>false</w:AlwaysShowPlaceholderText> <w:DoNotPromoteQF/> <w:LidThemeOther>EN-US</w:LidThemeOther> <w:LidThemeAsian>X-NONE</w:LidThemeAsian> <w:LidThemeComplexScript>X-NONE</w:LidThemeComplexScript> <w:Compatibility> <w:BreakWrappedTables/> <w:SnapToGridInCell/> <w:WrapTextWithPunct/> <w:UseAsianBreakRules/> <w:DontGrowAutofit/> <w:SplitPgBreakAndParaMark/> <w:EnableOpenTypeKerning/> <w:DontFlipMirrorIndents/> <w:OverrideTableStyleHps/> </w:Compatibility> <m:mathPr> <m:mathFont m:val="Cambria Math"/> <m:brkBin m:val="before"/> <m:brkBinSub m:val="&#45;-"/> <m:smallFrac m:val="off"/> <m:dispDef/> <m:lMargin m:val="0"/> <m:rMargin m:val="0"/> <m:defJc m:val="centerGroup"/> <m:wrapIndent m:val="1440"/> <m:intLim m:val="subSup"/> <m:naryLim m:val="undOvr"/> </m:mathPr></w:WordDocument></xml><![endif]--><!--[if gte mso 9]><xml> <w:LatentStyles DefLockedState="false" DefUnhideWhenUsed="false" DefSemiHidden="false" DefQFormat="false" DefPriority="99" LatentStyleCount="371"> <w:LsdException Locked="false" Priority="0" QFormat="true" Name="Normal"/> <w:LsdException Locked="false" Priority="9" QFormat="true" Name="heading 1"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 2"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 3"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 4"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 5"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 6"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 7"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 8"/> <w:LsdException Locked="false" Priority="9" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="heading 9"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 6"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 7"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 8"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index 9"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 1"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 2"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 3"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 4"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 5"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 6"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 7"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 8"/> <w:LsdException Locked="false" Priority="39" SemiHidden="true" UnhideWhenUsed="true" Name="toc 9"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Normal Indent"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="footnote text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="annotation text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="header"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="footer"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="index heading"/> <w:LsdException Locked="false" Priority="35" SemiHidden="true" UnhideWhenUsed="true" QFormat="true" Name="caption"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="table of figures"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="envelope address"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="envelope return"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="footnote reference"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="annotation reference"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="line number"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="page number"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="endnote reference"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="endnote text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="table of authorities"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="macro"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="toa heading"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Bullet"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Number"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Bullet 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Bullet 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Bullet 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Bullet 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Number 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Number 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Number 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Number 5"/> <w:LsdException Locked="false" Priority="10" QFormat="true" Name="Title"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Closing"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Signature"/> <w:LsdException Locked="false" Priority="1" SemiHidden="true" UnhideWhenUsed="true" Name="Default Paragraph Font"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text Indent"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Continue"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Continue 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Continue 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Continue 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="List Continue 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Message Header"/> <w:LsdException Locked="false" Priority="11" QFormat="true" Name="Subtitle"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Salutation"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Date"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text First Indent"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text First Indent 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Note Heading"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text Indent 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Body Text Indent 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Block Text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Hyperlink"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="FollowedHyperlink"/> <w:LsdException Locked="false" Priority="22" QFormat="true" Name="Strong"/> <w:LsdException Locked="false" Priority="20" QFormat="true" Name="Emphasis"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Document Map"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Plain Text"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="E-mail Signature"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Top of Form"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Bottom of Form"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Normal (Web)"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Acronym"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Address"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Cite"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Code"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Definition"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Keyboard"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Preformatted"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Sample"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Typewriter"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="HTML Variable"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Normal Table"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="annotation subject"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="No List"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Outline List 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Outline List 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Outline List 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Simple 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Simple 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Simple 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Classic 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Classic 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Classic 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Classic 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Colorful 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Colorful 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Colorful 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Columns 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Columns 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Columns 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Columns 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Columns 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 6"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 7"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Grid 8"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 4"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 5"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 6"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 7"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table List 8"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table 3D effects 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table 3D effects 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table 3D effects 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Contemporary"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Elegant"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Professional"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Subtle 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Subtle 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Web 1"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Web 2"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Web 3"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Balloon Text"/> <w:LsdException Locked="false" Priority="39" Name="Table Grid"/> <w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true" Name="Table Theme"/> <w:LsdException Locked="false" SemiHidden="true" Name="Placeholder Text"/> <w:LsdException Locked="false" Priority="1" QFormat="true" Name="No Spacing"/> <w:LsdException Locked="false" Priority="60" Name="Light Shading"/> <w:LsdException Locked="false" Priority="61" Name="Light List"/> <w:LsdException Locked="false" Priority="62" Name="Light Grid"/> <w:LsdException Locked="false" Priority="63" Name="Medium Shading 1"/> <w:LsdException Locked="false" Priority="64" Name="Medium Shading 2"/> <w:LsdException Locked="false" Priority="65" Name="Medium List 1"/> <w:LsdException Locked="false" Priority="66" Name="Medium List 2"/> <w:LsdException Locked="false" Priority="67" Name="Medium Grid 1"/> <w:LsdException Locked="false" Priority="68" Name="Medium Grid 2"/> <w:LsdException Locked="false" Priority="69" Name="Medium Grid 3"/> <w:LsdException Locked="false" Priority="70" Name="Dark List"/> <w:LsdException Locked="false" Priority="71" Name="Colorful Shading"/> <w:LsdException Locked="false" Priority="72" Name="Colorful List"/> <w:LsdException Locked="false" Priority="73" Name="Colorful Grid"/> <w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 1"/> <w:LsdException Locked="false" Priority="61" Name="Light List Accent 1"/> <w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 1"/> <w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 1"/> <w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 1"/> <w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 1"/> <w:LsdException Locked="false" SemiHidden="true" Name="Revision"/> <w:LsdException Locked="false" Priority="34" QFormat="true" Name="List Paragraph"/> <w:LsdException Locked="false" Priority="29" QFormat="true" Name="Quote"/> <w:LsdException Locked="false" Priority="30" QFormat="true" Name="Intense Quote"/> <w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 1"/> <w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 1"/> <w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 1"/> <w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 1"/> <w:LsdException Locked="false" Priority="70" Name="Dark List Accent 1"/> <w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 1"/> <w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 1"/> <w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 1"/> <w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 2"/> <w:LsdException Locked="false" Priority="61" Name="Light List Accent 2"/> <w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 2"/> <w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 2"/> <w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 2"/> <w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 2"/> <w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 2"/> <w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 2"/> <w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 2"/> <w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 2"/> <w:LsdException Locked="false" Priority="70" Name="Dark List Accent 2"/> <w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 2"/> <w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 2"/> <w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 2"/> <w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 3"/> <w:LsdException Locked="false" Priority="61" Name="Light List Accent 3"/> <w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 3"/> <w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 3"/> <w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 3"/> <w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 3"/> <w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 3"/> <w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 3"/> <w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 3"/> <w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 3"/> <w:LsdException Locked="false" Priority="70" Name="Dark List Accent 3"/> <w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 3"/> <w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 3"/> <w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 3"/> <w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 4"/> <w:LsdException Locked="false" Priority="61" Name="Light List Accent 4"/> <w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 4"/> <w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 4"/> <w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 4"/> <w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 4"/> <w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 4&q

Robots that support humans in physically demanding tasks require accurate force sensing capabilities. A common way to achieve this is by monitoring the interaction with the environment directly with dedicated force sensors. Major drawbacks of such special purpose sensors are the increased costs and the reduced payload of the robot platform. Instead, this thesis investigates how the functionality of such sensors can be approximated by utilizing force estimation approaches. Most of today’s robots are equipped with rich proprioceptive sensing capabilities where even a robotic arm, e.g., the UR5, provides access to more than hundred sensor readings. Following this trend, it is getting feasible to utilize a wide variety of sensors for force estimation purposes. Human proprioception allows estimating forces such as the weight of an object by prior experience about sensory-motor patterns. Applying a similar approach to robots enables them to learn from previous demonstrations without the need of dedicated force sensors. This thesis introduces Behavior-Specific Proprioception Models (BSPMs), a novel concept for enhancing robotic behavior with estimates of the expected proprioceptive feedback. A main methodological contribution is the operationalization of the BSPM approach using data-driven machine learning techniques. During a training phase, the behavior is continuously executed while recording proprioceptive sensor readings. The training data acquired from these demonstrations represents ground truth about behavior-specific sensory-motor experiences, i.e., the influence of performed actions and environmental conditions on the proprioceptive feedback. This data acquisition procedure does not require expert knowledge about the particular robot platform, e.g., kinematic chains or mass distribution, which is a major advantage over analytical approaches. The training data is then used to learn BSPMs, e.g. using lazy learning techniques or artificial neural networks. At runtime, the BSPMs provide estimates of the proprioceptive feedback that can be compared to actual sensations. The BSPM approach thus extends classical programming by demonstrations methods where only movement data is learned and enables robots to accurately estimate forces during behavior execution.

No description available.

This report covers the design research process and results of the 9-week Thesis Project I.A hands-on, Research Through Design approach led the project through an iterative process with a focus on creating functional prototypes and validation with experts to answer the research question: How could proprioceptive wearable technology assist in improving the quality of life for patients of Parkinson’s Disease? Within this main question, focus points have been placed on designing for comfort (i.e. wearability) and well-being with attention to aesthetics. The project builds upon the theories of Design for well-being, Embodied Interaction and Wearable technology and is supported by research on proprioception, Parkinson’s Disease, postural instability and sensory stimuli. The result is a series of models, sketches and prototypes and this report covering the process. The final concept and prototype is a system that monitors upper body posture and provides vibro-tactile feedback on strategically placed areas of the body to guide the patient towards the desired posture.

Trotz der Entwicklungen der letzten Jahre kommt es in der Robotik immer noch vor, dass mobile Roboter scheinbar sinnlose Handlungen ausführen. Der Grund für dieses Verhalten ist oftmals, dass sich das interne Weltbild des Roboters stark von der tatsächlichen Situation, in der sich der Roboter befindet, unterscheidet. Die darauf basierende Robotersteuerung wählt infolge dieser Diskrepanz scheinbar sinnlose Handlungen aus. Eine wichtige Ursache von Lokalisierungsfehlern stellen Kollisionen des Roboters mit anderen Robotern oder seiner Umwelt dar. Mit Hilfe eines Hindernismodells wird der Roboter in die Lage versetzt, Hindernisse zu erkennen, sich ihre Position zu merken und Kollisionen zu vermeiden. Ferner wird in dieser Arbeit eine Erweiterung der Bewegungsmodellierung beschrieben, die die Bewegung in Mobilitätszustände untergliedert, die jeweils ein eigenes Bewegungsmodell besitzen und die mit Hilfe von Propriozeption unterschieden werden können. Mit Hilfe der Servo-Motoren des Roboters lässt sich eine Art Propriozeption erzielen: der momentan gewünschte, angesteuerte Gelenkwinkel wird mit dem tatsächlich erreichten, im Servo-Motor gemessenen Winkel verglichen. Dieser "Sinn" erlaubt eine bessere Beschreibung der Roboterbewegung. Verbesserung des Sensormodells wird das bisher wenig untersuchte Konzept der Negativinformation, d.h. das Ausbleiben einer erwarteten Messung, genutzt. Bestehende Lokalisierungsansätze nutzen diese Information nicht, da es viele Gründe für ein Ausbleiben einer erwarteten Messung gibt. Eine genaue Modellierung des Sensors ermöglicht es jedoch, Negativinformation nutzbar zu machen. Eine Weltmodellierung, die Negativinformation verarbeiten kann, ermöglicht eine Lokalisierung des Roboters in Situationen, in denen einzig auf Landmarken basierende Ansätze scheitern. / Despite the dramatic advancements in the field of robotics, robots still tend to exhibit erratic behavior when facing unexpected situations, causing them, for example, to run into walls. This is mainly the result of the robot''s internal world model no longer being an accurate description of the environment and the robot''s localization within the environment. The key challenge explored in this dissertation is the creation of an internal world model for mobile robots that is more robust and accurate in situations where existing approaches exhibit a tendency to fail. First, means to avoid a major source of localization error - collisions - are investigated. Efficient collision avoidance is achieved by creating a model of free space in the direct vicinity of the robot. The model is based on camera images and serves as a short term memory, enabling the robot to avoid obstacles that are out of sight. It allows the robot to efficiently circumnavigate obstacles. The motion model of the robot is enhanced by integrating proprioceptive information. Since the robot lacks sensors dedicated to proprioception, information about the current state and configuration of the robot''s body is generated by comparing control commands and actual motion of individual joints. This enables the robot to detect collisions with other robots or obstacles and is used as additional information for modeling locomotion. In the context of sensing, the notion of negative information is introduced. Negative information marks the ascertained absence of an expected observation in feature-based localization. This information is not used in previous work on localization because of the several reasons for a sensor to miss a feature, even if the object lies within its sensing range. This information can, however, be put to good use by carefully modeling the sensor. Integrating negative information allows the robot to localize in situations where it cannot do so based on landmark observation alone.