A engenharia geotécnica frequentemente tem limitações de caráter econômico e ambiental. É por isso que a técnica de melhoramento das propriedades do solo pode se tornar uma alternativa de solução em diversos casos, como na construção de bases de pavimentos, camada de suporte em fundações superficiais, revestimento de canais e na proteção de taludes em barragens. Este trabalho faz parte de uma dissertação de mestrado que tem por objetivo avaliar a influência do teor de umidade de compactação, peso específico aparente seco e teor de agente cimentante na durabilidade, rigidez e resistência de um solo fino artificialmente cimentado. Para isso foram realizados ensaios de compressão simples após ciclos de molhagem e secagem, ensaios de perda de massa, rigidez inicial e ensaios de compressão triaxial. Os resultados mostraram que quanto maior o teor de cimento, o peso específico aparente seco e o teor de umidade para os teores estudados (17%, 20%, e 23%), maior é a resistência e menor é a queda da rigidez inicial após ciclos de molhagem e secagem, assim também menor é a perda de massa, mostrando um melhor desempenho quanto à durabilidade. Verificou-se que a metodologia apresentada por Consoli (2014) é válida para a previsão de parâmetros de resistência ao cisalhamento de solos com diferentes teores de umidade. / Geotechnical engineering often has limitations of economic and environmental natures, which is why the ground improvement technique can become an alternative solution in many cases, as in pavement base layers, support layers under shallow foundations, canal coating and in slope protection of earth dams. This work is part of a M.Sc. dissertation, which aims to assess the influence of the moisture content, porosity and cement content on durability, initial stiffness and strength of an artificially cemented fine-grained soil. A number of unconfined compression tests were carried out after wetting and drying cycles, together with weight loss and initial shear stiffness tests. Triaxial compression tests were also done. The results show that as higher the amount of cement, porosity and moisture content for the studied concentrations (17%, 20% and 23%), the greater is the resistance and lower is the drop of initial stiffness after wetting and drying cycles, as well as smaller the weight loss, showing a better performance in terms of durability. It was verified that, the methodology presented by Consoli (2014) is valid for predicting soil shear strength parameters with different moisture contents.

O exercício excêntrico tem sido utilizado na prevenção/reabilitação de lesões e em programas de treinamento de força para melhorar o condicionamento físico de indivíduos saudáveis. O entendimento das adaptações causadas pelo treinamento excêntrico nos músculos flexores plantares se justifica: 1) pela importância desta musculatura na manutenção de posturas e no ciclo da marcha; 2) pela alta incidência de lesões do tendão de Aquiles; e 3) pelo uso sistemático deste tipo de treinamento em programas de prevenção e reabilitação do tríceps sural. Assim, a presente tese de doutorado busca verificar os efeitos do treinamento excêntrico nas propriedades neuromecânicas e morfológicas dos músculos flexores plantares. No capítulo I foram compiladas informações acerca das adaptações neuromusculares dos flexores plantares e do tendão de Aquiles de indivíduos saudáveis submetidos à programas de treinamento excêntrico. Os estudos encontrados indicam que o treinamento excêntrico pode aumentar a produção de força e ativação muscular, especialmente em testes excêntricos. No entanto, resultados conflitantes e lacunas identificadas na literatura motivaram a realização de dois estudos originais. Os objetivos dos estudos originais foram: 1) determinar a temporalidade das adaptações na ativação e massa muscular de flexores plantares, bem como sua contribuição para os ganhos de força em contrações excêntricas, isométricas e concêntricas ao longo do programa de treinamento (Capítulo II); e 2) avaliar os efeitos de 12 semanas de treinamento excêntrico nas propriedades morfológicas, mecânicas e materiais do tendão de Aquiles de indivíduos saudáveis (Capítulo III). Vinte participantes do sexo masculino realizaram um programa de treinamento excêntrico isocinético (duas vezes por semana, 3-5 séries de 10 repetições máximas). As avaliações das propriedades neuromecânicas e morfológicas dos flexores plantares foram realizadas a cada quatro semanas. Ao final de 12 semanas, o programa de treinamento excêntrico aumentou a produção de torque máximo excêntrico, isométrico e concêntrico; aumentou a atividade eletromiográfica máxima excêntrica e isométrica; e aumentou a espessura muscular. Além disso, os ângulos do pico de torque excêntrico e concêntrico foram deslocados para posições em que os músculos estavam mais alongados. O torque máximo e a espessura muscular aumentaram progressivamente até a oitava semana de treinamento. A ativação neural durante contrações excêntricas e isométricas aumentou após quatro semanas de treino e permaneceu constante até o final do treinamento, enquanto que a ativação neural durante contrações concêntricas permaneceu inalterada durante todo o período de treinamento. Além disso, houve aumento da área de secção transversa, da rigidez e do módulo de Young do tendão de Aquiles. Os incrementos na rigidez e no módulo de Young foram observados após quatro semanas de treinamento, enquanto que o aumento significativo da área de secção transversa tendínea ocorreu após oito semanas de treinamento. Quando tomados em conjunto, estes resultados nos possibilitam entender de que forma as adaptações neuromecânicas e morfológicas dos flexores plantares ocorrem. O aumento da força isométrica e excêntrica nas primeiras quatro semanas de treinamento parece ocorrer devido a adaptações neurais, musculares e tendíneas. No entanto, após maiores períodos de treinamento (i.e. acima de quatro semanas), o aumento da força ocorre devido a incrementos na massa muscular e na rigidez tendínea. Além disso, a ausência de adaptações neurais evidencia que os ganhos de força concêntrica podem estar relacionados apenas com adaptações musculares e tendíneas. / Eccentric exercises are commonly used in prevention, rehabilitation and conditioning training programs. Understanding the adaptations caused by eccentric training on the plantar flexor muscles is justified by: 1) the importance of these muscles in maintaining posture and during gait cycle; 2) the high incidence of Achilles tendon injuries; and 3) the systematic use of this type of training in triceps surae prevention and rehabilitation programs. Thus, the present PhD thesis aims to verify the effects of eccentric training in neuromechanical and morphological properties of the plantar flexor muscles. Chapter I compiled information about the neuromuscular adaptations of the plantar flexors and Achilles tendon of healthy subjects undergoing eccentric training programs. The studies found indicate that eccentric training can increase the production of muscle strength and muscle activation, especially in eccentric tests. The studies found indicate that eccentric training can increase muscle strength and muscle activation, especially in eccentric tests. The purposes of the original studies were: 1) to determine the adaptations time course in plantar flexors activation and muscle mass, as well as their contribution to the strength gains in eccentric, isometric and concentric contractions during the training program (Chapter II); and 2) to evaluate the effects of 12 weeks of eccentric training on Achilles tendon morphological, mechanical and material properties in healthy subjects (Chapter III). Twenty male subjects performed an eccentric isokinetic training program (twice a week, 3-5 sets of 10 maximal repetitions). Plantar flexor neuromechanical and morphological evaluations were performed every 4 weeks. The 12-week training program led to increases in maximum eccentric, isometric and concentric torques; maximum eccentric and isometric electromyographic activity; and muscle thickness. The angles of peak torque in eccentric and concentric tests were shifted towards longer muscle lengths. Maximum torque and muscle thickness increased progressively until the 8th training week. Eccentric and isometric activation increased up to the 4th training week and remained constant until the 12th training week, while no change was found in concentric activation. In addition, Achilles tendon cross-sectional area, stiffness and Young's modulus were increased. The increases in stiffness and Young's modulus were observed after four weeks of training, while the significant increase in tendon cross-sectional area occurred after eight weeks of training. Taken together, these results allow us to understand how the neuromechanical and morphologic adaptations occur in the plantar flexors muscles subjected to a 12-week eccentric training program. The increase in isometric and eccentric strength in the first four weeks of training seems to be related to neural, morphological and tendinous adaptations. However, after longer training periods (i.e. up to four weeks), the strength increase is due to increases in muscle mass and tendon stiffness. Moreover, the absence of evidence in terms of neural adaptations during concentric contractions suggest that the concentric strength gains seem to be related only with muscle and tendon adaptations.

Em pacientes hipertensos e diabéticos, o sistema renina-angiotensina-aldosterona está relacionado com disfunção endotelial, rigidez vascular e aterosclerose. As principais medicações disponíveis para a inibição desse sistema são os inibidores da enzima conversora de angiotensina e os bloqueadores do receptor AT1 de angiotensina. A maioria das diretrizes internacionais faz as mesmas recomendações para as duas classes, mas diferenças no seu mecanismo de ação podem ter relevância clínica. O objetivo principal foi comparar benazepril e losartana em pacientes hipertensos e diabéticos com pressão arterial não controlada por anlodipino, analisando parâmetros inflamatórios (proteína C reativa), da função endotelial (através da dilatação mediada por fluxo da artéria braquial) e de rigidez vascular (através da velocidade da onda de pulso e das pressões aórticas). O objetivo secundário foi, através de uma análise post-hoc, pesquisar se há interação entre as estatinas e os inibidores do sistema renina-angiotensina-aldosterona. Pressão arterial, função endotelial e rigidez vascular foram comparados entre usuários e não-usuários de estatina. Os dados estão apresentados como mediana (intervalo interquartil). Os resultados principais mostraram que o grupo benazepril apresentou menor proteína C reativa [0,38 (0,15-0,95) mg/dl vs 0,42 (0,26-0,59) mg/dl, p=0,020]. Houve, ainda, uma leve melhora da dilatação mediada por fluxo da artéria braquial no grupo benazepril (aumento 45%, p=0,057) em comparação com o grupo losartana (aumento 19%, p=0,132). Não houve diferença na velocidade da onda de pulso [8,5 (7,8-9,4) m/s vs 8,5 (7,0-9,7) m/s, p=0,280] e na pressão aórtica sistólica [129 (121-145) mmHg vs 123 (117-130) mmHg, p=0,934] entre os grupos benazepril e losartana. Nos resultados secundários, observou-se que o grupo usuário de estatina apresentou maior redução na pressão arterial sistólica média das 24 horas [134 (120-146) mmHg para 122 (114-135) mmHg, p=0,007] e melhora na dilatação mediada por fluxo da artéria braquial [6,5% (5,1-7,1) para 10,9% (7,3-12,2), p=0,003] quando comparado com o grupo não usuário [137 (122-149) mmHg para 128 (122-140) mmHg, p=0,362, e 7,5% (6,0-10,2) para 8,3% (7,5-9,9), p=0,820, respectivamente]. Não houve diferença na velocidade de onda de pulso e nas pressões aórticas entre usuários ou não de estatina. Pode-se concluir que, em pacientes diabéticos com a pressão arterial não controlada por anlodipino, o benazepril promoveu maior redução da proteína C reativa e melhora da função endotelial em relação à losartana. Além disso, o uso combinado de estatinas, anlodipino e inibidores do sistema renina-angiotensina-aldosterona melhorou a resposta anti-hipertensiva e a função endotelial em pacientes hipertensos e diabéticos. / In hypertensive diabetic patients, the renin-angiotensin-aldosterone system is related to endothelial dysfunction, vascular stiffness and atherosclerosis. Angiotensin converting enzyme inhibitors and angiotensin receptor blockers are two of the most important medications that inhibit this system. Most international guidelines recommend them interchangeably, albeit small differences may have clinical relevance. The main objective was to compare inflammatory parameters (by C-reactive protein), endothelial function (by flow-mediated vasodilation) and vascular stiffness (by pulse wave velocity and aortic pressures) between benazepril and losartan in hypertensive diabetic patients whose blood pressure was not controlled by amlodipine. The secondary objective was a post-hoc analysis to study possible synergism between statins and renin-angiotensin-aldosterone system inhibitors. Blood pressure reduction, endothelial function and vascular stiffness were compared between patients using or not statins. Main results showed that C-reactive protein had lower values in benazepril group [0.38 (0.15-0.95) mg/dl vs 0.42 (0.26-0.59) mg/dl, p=0.020]. There was a slightly higher flow-mediated vasodilation response in benazepril group (45% of increase, p=0.057) than in losartan group (19% of increase, p=0.132). Aortic systolic blood pressure [129 (121-145) mmHg vs 123 (117-130) mmHg, p=0.934] and carotid-femoral pulse wave velocity [8.5 (7.8-9.4) m/s vs 8.5 (7.0-9.7) m/s, p=0.280] were the same between groups. Secondary results showed that patients using statins had greater reduction in mean systolic blood pressure in 24 hour monitoring [134 (120-146) mmHg to 122 (114-135) mmHg, p=0.007] than patients not using statins [137 (122-149) mmHg to 128 (122-140) mmHg, p=0.362]. Patients using statins had higher flow-mediated vasodilation response [6.5% (5.1-7.1) to 10.9% (7.3-12.2), p=0.003] than those not using statins [7.5% (6.0-10.2) to 8.3% (7.5-9.9), p=0.820]. There was no difference in pulse wave velocity nor in aortic pressure between patients using or not statins. Hypertensive diabetic patients in use of benazepril had a greater reduction in C-reactive protein and a slight improvement in flow-mediated vasodilation than those taking losartan. Moreover, combination of statin, anlodipine and renin-angiotensin-aldosterone system inhibitors promoted greater blood pressure reduction and amelioration of endothelial function in hypertensive diabetic patients.

Change of direction speed (CODS) is an important determinant of performance in many sports. Greater stiffness of the lower limb should be beneficial to CODS, but this had not been well investigated. The purpose of this thesis was to establish the relationship between vertical stiffness, vertical stiffness asymmetries and CODS, with a view to augmenting CODS performance. The pilot study and studies 1-2 sought to determine the most reliable and ecologically valid method to assess stiffness in athletes required to perform changes of direction. The pilot study reported that the use of ultrasonography to determine Achilles tendon stiffness did not demonstrate appropriate reliability for inclusion in subsequent studies. Coefficients of variation (CVs) in excess of 27% were reported during an isometric plantar flexion task. Study 1 reported that CVs for vertical stiffness were lower when assessed during unilateral drop jumping (~7%) than during bilateral drop jumping (~12%) or bilateral hopping (~14%). Study 2 reported that the expression of vertical stiffness (P = 0.033) and vertical stiffness symmetry angle (P = 0.006) was significantly different across three performance tasks: unilateral drop jumping, bilateral drop jumping and bilateral hopping. Asymmetry percentages between compliant and stiff limbs were 5.6% (P < 0.001; d: 0.22), 23.3% (P = 0.001; d = 0.86) and 12.4% (P = 0.001; d = 0.39), respectively. Given the findings of studies 1 and 2, this thesis demonstrated the reliability and validity of a novel method by which to assess vertical stiffness - the unilateral drop jump. This task was used in subsequent studies to measure vertical stiffness. Study 3 sought to determine if vertical stiffness and vertical stiffness asymmetries influenced CODS performance determined during a 90o cutting task. Multiple regression analyses reported that mean vertical stiffness and asymmetry in jump height explained 63% (r2 = 0.63; P = 0.001) of CODS performance. Study 3 was the first investigation to demonstrate the importance of vertical stiffness to CODS performance. Study 4 sought to determine if acute exercise interventions designed to augment vertical stiffness would improve CODS. Unilateral and bilateral ‘stiffness’ interventions were evaluated against a control condition. CODS performances following the unilateral intervention were significantly faster than control (1.7%; P= 0.011; d = -1.08), but not significantly faster than the bilateral intervention (1.0% faster; P = 0.14; d = -0.59). Versus control, vertical stiffness was 14% greater (P = 0.049; d = 0.39) following the unilateral intervention. Study 4 demonstrated that a novel unilateral ‘stiffness’ intervention improved vertical stiffness and CODS performance. This highlights that the potential applicability of unilateral stiffness interventions in the pre-performance preparation of athletes.

Tese (doutorado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Civil e Ambiental, 2016. / Submitted by Fernanda Percia França (fernandafranca@bce.unb.br) on 2016-09-30T18:04:30Z No. of bitstreams: 1 2016_FernandodosSantosOliveira.pdf: 6646040 bytes, checksum: a918278b21da46660beef0d43415e2b7 (MD5) / Approved for entry into archive by Raquel Viana(raquelviana@bce.unb.br) on 2016-12-19T12:36:52Z (GMT) No. of bitstreams: 1 2016_FernandodosSantosOliveira.pdf: 6646040 bytes, checksum: a918278b21da46660beef0d43415e2b7 (MD5) / Made available in DSpace on 2016-12-19T12:36:52Z (GMT). No. of bitstreams: 1 2016_FernandodosSantosOliveira.pdf: 6646040 bytes, checksum: a918278b21da46660beef0d43415e2b7 (MD5) / A construção de edificações cada vez mais altas e esbeltas tem se tornado bastante comum nos grandes centros, desafiando assim os projetistas estruturais a elaborarem projetos cada vez mais eficientes de forma que o arranjo adotado possa utilizar da melhor forma as características dos materiais. O uso de dispositivos que adicionam rigidez e amortecimento às estruturas sujeitas a ações dinâmicas, como cargas de vento e terremotos, tem se tornado cada vez mais comum nas estruturas civis. Um desses dispositivos mecânicos que tem sido amplamente utilizado é o dissipador do tipo Added Damping and Stiffness (ADAS), que se corretamente instalado, pode aumentar significativamente a resistência, rigidez e capacidade de dissipação de energia das estruturas das edificações. Os dispositivos do tipo ADAS são basicamente dissipadores de energia instalados na estrutura com o objetivo de que a dissipação ocorra de forma concentrada nesses elementos, protegendo assim a estrutura principal de maiores danos. Uma vez ocorrida a ação dinâmica que danifique esses elementos, eles podem ser facilmente substituídos sem maiores dificuldades. Esses dissipadores de energia apresentam a vantagem de não precisarem de tecnologia avançada para sua produção e podem ser facilmente instalados na estrutura. Possuem ainda a vantagem de que fatores ambientais tais como temperatura e umidade, pouco ou nada afetam seu desempenho. No presente estudo, como uma alternativa ao ADAS, é realizada a otimização topológica de um dissipador metálico aplicado à redução de vibração em edificações sujeitas a terremotos, considerando através de análise numérica e experimental o formato adequado desse tipo de dispositivo. Em seguida busca-se a obtenção da probabilidade de falha desse sistema estrutural, levando-se em consideração as incertezas inerentes ao projeto, através da análise de confiabilidade. ________________________________________________________________________________________________ ABSTRACT / The construction of increasingly tall and slender buildings has become quite common in large cities, challenging the structural engineers to develop increasingly efficient designs so that the adopted arrangement can make best use of the characteristics of materials. The use of devices that add stiffness and damping to structures subjected to dynamic actions such as wind and earthquake loads, has become increasingly common in civil structures. One of the mechanical devices that have been widely used is the Added Damping and Stiffness (ADAS), which if correctly installed, can significantly increase the strength, stiffness and energy dissipation capacity of the structures. ADAS devices are basically energy dissipators installed in the structure in order that dissipation occurs in these elements in a concentrated way, thereby protecting the main structure from further damage. Once the dynamic action that damages these elements occurs, they can be easily replaced without major costs. These energy dissipators have the further advantage of not require advanced technology for its production and can be easily installed in the structure. They also have the advantage that environmental factors such as temperature and humidity, has little or no effect in their performance. In the present study, as an alternative to ADAS, is performed the topology optimization of a metallic dissipator applied to the reduction of vibration in buildings subject to earthquakes, raising through numerical and experimental analysis the appropriate device type format. Then is searched the probability of failure of this structural system, taking into consideration the uncertainty inherent in the design, through reliability analysis.

Changes in the biomechanical properties of cells accompanying the development of various pathological conditions have been increasingly reported as biomarkers for various diseases and as a predictor of disease progression stages. For instance, cancer cells have been found to be less stiff compared to their healthy counterparts due to the proteomic and lipidomic dysregulations conferred by the underlying pathology. The separation and selective recovery of cells or extracellular vesicles secreted from such cells that have undergone these changes have been suggested to be of diagnostic and prognostic value. This dissertation first describes the implementation of a stiffness-based separation of phosphatidylcholine-based vesicles using a method first introduced based on the research in this work and was dubbed thermally-assisted acoustophoresis, or thermo-acoustophoresis. By tuning the temperature, we achieved the separation of vesicles of the same size, shape, and charge but with different stiffness values. It was observed that at a specific transition point, the acoustic contrast factor of vesicles changed sign from positive to negative. This change was mainly due to change in the compressibility of the vesicles, which is inversely proportional to stiffness. The acoustic contrast temperature (Tϕ), corresponding to the temperature at which the contrast factor switches sign, was determined to be unique to the composition of the vesicles. This unique temperature signature allowed us to develop this separation method of vesicles with distinct membrane stiffness with target outlet purities exceeding 95%. We have further explored the functionality of this method by experimenting with cholesterol-containing vesicles. In cells, the cholesterol content plays a crucial role in determining stiffness. Changes in the cholesterol content in cellular membranes can be an indication of pathological disorders. We evaluated the Tϕ of vesicles at different cholesterol molar ratios (Xchol) and developed a multi-stage lab-on-a-chip method to accomplish for the first time the separation of a three-vesicle mixture. Using Xchol = 0.1, 0.2, and 0.3 vesicles, we obtained efficiencies exceeding 93%. The simplicity, rapidity, and label-free nature of this approach holds promise as a diagnostic and separation tool for cells affected by diseases that affect the stiffness and extracellular vesicles such as exosomes and microvesicles.

abstract: Mechanical properties (e.g. deformability or stiffness) are critical to a cancer cell's ability to maneuver through and exert forces upon the extracellular matrix, and thus affect its ability to metastasize. §3.1 introduces the experimental method combining atomic force microscope (AFM) based indentation and confocal laser scanning microscopy (CLSM). §3.2 presents a method combining AFM and confocal microscopy (AFM stiffness nanotomography), and results on normal and pre-cancerous esophageal cells which indicate that even in the earliest stages, cancer cells exhibit increased deformability. §3.3 presents experimental results on weakly metastatic breast cancer cells that compare well with values obtained from other experimental methods and demonstrates that the mechanical response of cells to sharp and mesoscale probes differ significantly. §3.4 presents experimental results indicating that metastatic breast cancer cells are more deformable than normal counterparts, and demonstrates that indentation measurements with sharp probes are capable of identifying mechanical differences between cytoplasmic, nuclear and nucleolar regions of the cell. §3.5 presents results on weakly metastatic breast cancer cells sensitive and resistant to tamoxifen (an estrogen antagonist), and demonstrate that estrogen has a significant effect on cell stiffness. §3.6 applies stiffness nanotomography to study metastatic breast cancer cells allowed to invade 3D collagen gels, demonstrating the ability to use AFM indentation on heterogeneous samples, and shows that cell stiffness increases during the invasion process for partially and fully embedded metastatic breast cancer cells. / Dissertation/Thesis / Doctoral Dissertation Physics 2014

abstract: Introduction. Intervertebral disc degeneration (DD) is one of the most common diagnoses in patients with neck pain and contributes to worldwide disability. Despite the advances in diagnostic imaging today, little is known about functional status of cervical DD. The purpose of this research was to 1) develop and validate an ovine model of cervical spine DD, 2) to quantify and compare the effect of disc lesions on dynamic spinal stiffness, and 3) study the effect of disc lesions on spinal accelerations and displacements during two types of spinal manipulative therapy (SMT). Methods. Fifteen sheep received surgically induced disc injury to the mid-cervical spine via scalpel wound a minimum of five months earlier and 15 sheep served as controls. All animals were biomechanically assessed at the level of the lesion using swept-sine mechanical loads from 0-20 Hz under load control to quantify dynamic dorsoventral (DV) spine stiffness (load/deformation, N/mm). The effect of disc lesion on stiffness was assessed using a one-factor repeated measures ANOVA comparing 32 mechanical excitation frequencies. Tri-axial accelerometers rigidly attached to adjacent vertebrae across the target level further evaluated the effect of disc lesion on spinal motion response during two types of SMTs. A 2x6x2 repeated measures ANOVA examined the effect of disc lesion and SMT force-time profile on spine motion response. Postmortem histological analysis graded specimens at the target site and comparison was made with descriptive statistics. Results. Annular disc tears were only observed in the disc lesion group and the mild degeneration identified was localized to the injured annular tissue that did not progress to affect other areas of the disc. No difference in overall DD grading was found among the groups. DV stiffness was significantly increased in the disc lesion group by approximately 34% at 31 of 32 frequencies examined (p<.05). SMTs resulted in decreased displacements in the disc lesion group (p<.05), and SMT type significantly influenced spinal accelerations for both the DV and axial planes. Conclusion. Disc lesions in the ovine cervical spine produce localized annular degenerative changes that increase the cervical spine dynamic stiffness and reduce its spinal motion response during manual examination and treatment that is further augmented by the force-time profile administered by the clinician. / Dissertation/Thesis / Doctoral Dissertation Kinesiology 2015

abstract: We experience spatial separation and temporal asynchrony between visual and haptic information in many virtual-reality, augmented-reality, or teleoperation systems. Three studies were conducted to examine the spatial and temporal characteristic of multisensory integration. Participants interacted with virtual springs using both visual and haptic senses, and their perception of stiffness and ability to differentiate stiffness were measured. The results revealed that a constant visual delay increased the perceived stiffness, while a variable visual delay made participants depend more on the haptic sensations in stiffness perception. We also found that participants judged stiffness stiffer when they interact with virtual springs at faster speeds, and interaction speed was positively correlated with stiffness overestimation. In addition, it has been found that participants could learn an association between visual and haptic inputs despite the fact that they were spatially separated, resulting in the improvement of typing performance. These results show the limitations of Maximum-Likelihood Estimation model, suggesting that a Bayesian inference model should be used. / Dissertation/Thesis / Doctoral Dissertation Human Systems Engineering 2017

abstract: The human hand comprises complex sensorimotor functions that can be impaired by neurological diseases and traumatic injuries. Effective rehabilitation can bring the impaired hand back to a functional state because of the plasticity of the central nervous system to relearn and remodel the lost synapses in the brain. Current rehabilitation therapies focus on strengthening motor skills, such as grasping, employ multiple objects of varying stiffness and devices that are bulky, costly, and have limited range of stiffness due to the rigid mechanisms employed in their variable stiffness actuators. This research project presents a portable cost-effective soft robotic haptic device with a broad stiffness range that is adjustable and can be utilized in both clinical and home settings. The device eliminates the need for multiple objects by employing a pneumatic soft structure made with highly compliant materials that act as the actuator as well as the structure of the haptic interface. It is made with interchangeable soft elastomeric sleeves that can be customized to include materials of varying stiffness to increase or decrease the stiffness range. The device is fabricated using existing 3D printing technologies, and polymer molding and casting techniques, thus keeping the cost low and throughput high. The haptic interface is linked to either an open-loop system that allows for an increased pressure during usage or closed-loop system that provides pressure regulation in accordance with the stiffness the user specifies. A preliminary evaluation is performed to characterize the effective controllable region of variance in stiffness. Results indicate that the region of controllable stiffness was in the center of the device, where the stiffness appeared to plateau with each increase in pressure. The two control systems are tested to derive relationships between internal pressure, grasping force exertion on the surface, and displacement using multiple probing points on the haptic device. Additional quantitative evaluation is performed with study participants and juxtaposed to a qualitative analysis to ensure adequate perception in compliance variance. Finally, a qualitative evaluation showed that greater than 60% of the trials resulted in the correct perception of stiffness in the haptic device. / Dissertation/Thesis / Masters Thesis Biomedical Engineering 2018