Abstract Aim: The aim was to evaluate height measurements made with the single view metrology method and to investigate the influence of standing position and different phases of gait and running on vertical height. Method: Ten healthy men were recorded simultaneously by a 2D web camera and a 3D motion analysis system. They performed six trials, three standing and three during gait and running. The vertical height was measured with the single view metrology method and in Qualisys Track Manager. The results were compared for evaluation. The vertical height in the different postures was compared to the actual height. Results: The measurements made with the single view metrology method were significantly higher than the measurements made with Qualisys Track Manager (p<0.001). The vertical height in the two standing positions was significantly lower than the actual height (p<0.05). The vertical height in midstance was significantly lower than actual height in the walking trials (p<0.05). No significant difference was found between maximum vertical height and actual height during running (p>0.05). Conclusion: The single view metrology method measured vertical heights with a mean error of +2.30 cm. Posture influence vertical body height. Midstance in walking is the position where vertical height corresponds best with actual height, in running it is the non-support phase.

Trunk instability is a major problem for people with spinal cord injury (SCI); it not only limits their independence, but also leads to secondary health complications such as kyphosis, pressure sores, and respiratory dysfunction. In exploring mechanisms that may facilitate or compromise postural stability, dynamic models are very useful because the spine dynamics are difficult to study in vivo compared to other structures of the body. Therefore, one objective of this work was to develop a detailed three-dimensional dynamic model of the human trunk as a tool for investigating the neural-mechanical control strategy that healthy people apply to maintain trunk stability during various tasks. Since trunk control is fairly complex, however, another objective of this work was to provide insights into the balance control strategy of a simpler neuro-musculo-skeletal system that may facilitate future studies on trunk control. For this purpose, the control of the ankle joint complex during quiet standing (anterior-posterior degree of freedom) was studied in place of the trunk. The obtained results reveal that a neural-mechanical control scheme using a proportional-derivative controller as the neural control strategy can overcome a large sensory-motor (feedback) time delay and stabilize the ankle joint during quiet standing. Moreover, a detailed dynamic model of the trunk has been developed that is: (1) based on highly accurate geometric models; and (2) universally applicable. Thus, this work also responds to the postulation that structurally more complex models are needed to better characterize the biomechanics of multifaceted systems. Combining the developed biomechanical tools for the trunk with the postural control insights for the ankle joint during standing will be beneficial for: (1) understanding the neural-mechanical control strategy that facilitates trunk stability in healthy people; and for (2) developing neuroprostheses for trunk stability after SCI and other neurological disorders.

Trunk instability is a major problem for people with spinal cord injury (SCI); it not only limits their independence, but also leads to secondary health complications such as kyphosis, pressure sores, and respiratory dysfunction. In exploring mechanisms that may facilitate or compromise postural stability, dynamic models are very useful because the spine dynamics are difficult to study in vivo compared to other structures of the body. Therefore, one objective of this work was to develop a detailed three-dimensional dynamic model of the human trunk as a tool for investigating the neural-mechanical control strategy that healthy people apply to maintain trunk stability during various tasks. Since trunk control is fairly complex, however, another objective of this work was to provide insights into the balance control strategy of a simpler neuro-musculo-skeletal system that may facilitate future studies on trunk control. For this purpose, the control of the ankle joint complex during quiet standing (anterior-posterior degree of freedom) was studied in place of the trunk. The obtained results reveal that a neural-mechanical control scheme using a proportional-derivative controller as the neural control strategy can overcome a large sensory-motor (feedback) time delay and stabilize the ankle joint during quiet standing. Moreover, a detailed dynamic model of the trunk has been developed that is: (1) based on highly accurate geometric models; and (2) universally applicable. Thus, this work also responds to the postulation that structurally more complex models are needed to better characterize the biomechanics of multifaceted systems. Combining the developed biomechanical tools for the trunk with the postural control insights for the ankle joint during standing will be beneficial for: (1) understanding the neural-mechanical control strategy that facilitates trunk stability in healthy people; and for (2) developing neuroprostheses for trunk stability after SCI and other neurological disorders.

Ce présent mémoire porte sur une étude menée avec des personnes devenues hémiparétiques suite à un accident vasculaire cérébral. L'objet de la recherche était de savoir si leur équilibre postural pouvait être amélioré grâce à une courte séance d'une technique de rééducation du mouvement nommée l'approche Trager ou intégration psychocorporelle. Un groupe de douze sujets fut choisi pour mener l'expérimentation à terme. Les résultats ont indiqué une tendance vers la réduction des oscillations du centre de pression et vers une amélioration de la distribution du poids corporel avec la condition pour laquelle les sujets avaient les yeux ouverts, mais ces changements n'ont pu être statistiquement significatifs. Par contre, la mobilité des sujets, leur proprioception ainsi que leur performance aux tests fonctionnels ont bénéficié de l'approche Trager lors de l'expérimentation. ______________________________________________________________________________ MOTS-CLÉS DE L’AUTEUR : Hémiparésie, Équilibre postural, Massage, Approche Trager.

La sensibilité cutanée plantaire, par sa situation d'interface entre l'organisme et le sol, par ses capteurs performants de pression, de vitesse, d'accélération et d'étirement directionnel, judicieusement structurés en deux plans, joue le rôle d'une véritable plate-forme de force capable de renseigner le système de l'équilibration sur les paramètres statiques et dynamiques des forces tridimensionnelles mises en jeu à l'interface pied/sol. Le système nerveux central intègre les informations tactiles plantaires, associées aux autres messages sensoriels, ce qui l'informe sur la position du corps dans l'espace. Il déclenchera conséquemment les réponses musculaires appropriées afin de réduire la différence entre la position du corps et la position d'équilibre à atteindre. Le système nerveux central mature tout comme celui en développement intègre les informations sensorielles mais ils n'ont pas la même efficience. La modulation des afférences tactiles plantaires (vibrations, stimuli électriques, changements de distribution de la pression, anesthésie plantaire, neuropathie périphérique, etc.) influence le contrôle de l'équilibre. Toutefois, les effets de la texture de la surface de support sur le contrôle de l'équilibre demeurent méconnus. Les hypothèses proposées pour cette étude étaient que les changements de friction, induits par les changements de textures peuvent influencer la perception des centres de pression et ainsi, modifier le contrôle de la posture chez l'adulte et chez l'enfant. Une deuxième hypothèse était que les effets de la friction sur la posture sont différents chez l'adulte et chez l'enfant. Deux groupes de sujets (jeunes adultes et enfants âgés entre 7 et 10 ans) ont été soumis à une tâche d'équilibre statique, les yeux fermés, sur une plateforme de force stable qui s'inclinait de façon lente et progressive vers l'avant jusqu'à 14°, dans deux conditions de textures (rugueux et lisse). Les variables analysées étaient le déplacement antéropostérieur de la force verticale (kgs) capté par les jauges de contrainte de la plateforme ainsi que le pourcentage d'utilisation musculaire moyen des électromyogrammes du gastrocnémien et du tibialis antérieur. Les données obtenues démontrent des différences développementales importantes mais pas d'effet de surface. Avant l'inclinaison, chez l'enfant le système nerveux en développement déplace le poids du corps vers l'arrière alors que chez l'adulte, le système mature permet une répartition du poids également entre l'avant et l'arrière. Le début de l'inclinaison coïncide avec une augmentation de la force vers l'avant et une diminution de la force appliquée vers l'arrière ainsi qu'avec une augmentation de l'activité musculaire des muscles gastrocnémien et tibialis antérieur chez les deux groupes de sujets. L'activité musculaire chez les enfants est supérieure à celle des adultes et leurs profils d'activation sont différents. En fin d'inclinaison, le gain de poids vers l'avant et la perte de poids vers l'arrière sont supérieurs chez l'enfant. Ainsi, l'amplitude de déplacement antéropostérieur totale est supérieure chez l'enfant. La stratégie de contrôle postural basée sur les afférences sensorielles utilisée par l'enfant semble moins efficace que celle utilisée par l'adulte. Lorsque l'on compare un système mature à celui d'un enfant, cette recherche démontre que l'adulte possède un contrôle plus efficient en utilisant une intensité musculaire moindre. Donc, le contrôle de l'équilibre ne dépend pas seulement des contraintes de la tâche et de l'environnement mais dépendra également de la maturation neurale et de l'expérience. ______________________________________________________________________________ MOTS-CLÉS DE L’AUTEUR : Développement sensorimoteur, Contrôle postural, Surface de support, EMG, Déplacement antéropostérieur du poids de corps.

Background: Currently, if traveling the posted speed limit, the typical commuter driver in the Toronto Metropolitan area will travel round trip upwards of 60 minutes a day to work (Heisz and LaRochelle-Cote, 2005). As urban congestion continues to rise, commuting distances and times will progressively increase, placing commuter drivers at increased risk of developing musculoskeletal disorders (Porter and Gyi, 2002; Walsh et al., 1989; Chen et al., 2005; Sakakibara et al., 2006). As urban areas continue to expand, it is believed that a greater percentage of our urban populations will be defined as overweight or obese (Puska et al., 2003). To date the influence of body mass on driver posture, pressure distribution and discomfort during a prolonged driving situation has been left relatively untested. The purpose of this investigation is to determine the influence body mass has on driver posture, pressure distribution and discomfort during a prolonged driving situation. Methodology: Twelve male and 12 female participants, between 167 and 172 cm in stature were used in this investigation. Even numbers of males were assigned to either a light (51.3-57.7 kg), moderate (63.7-69.4 kg), or heavy (82.7-92.0 kg) body mass group. Participants were than placed in a 2 hour in lab driving simulation. During the simulation, lumbar flexion, pelvic angle, joint/segment angles, pressure distribution and discomfort were recorded. A three way mixed general linear model was used to determine if significant (α = 0.05) differences in discomfort, posture and/or interface pressure measurements existed over time. Results: Heavy drivers displayed increased total IT pressures and total seat pan/back pressures during driving. When normalizing these total pressures to area, differences in total IT pressure recorded from the seat pan, and total pressure recorded from the seat back were not significantly different (α = 0.05) across body mass groups. Due to the lack of seat pan accommodation with respect to surface area, the heavy body mass group’s total pressures per unit area for the seat pan was elevated relative to the lighter body mass groups. No differences in two-dimensional joint or segment kinematics and ratings of perceived discomfort were observed between body mass groups or between genders. Gender specific lumbo-pelvic postures and pressure distribution profiles were observed. Conclusion: With appropriate design of the seat pan to accommodate heavy body mass populations with respect to seat pan area, the influence of body mass as a potential risk factor in the development of discomfort would be reduced. With stature and body mass controlled between gender groups, biomechanical differences in both pressure distribution and lumbo-sacral postures were observed between males and females, verifying gender as a risk factor in the development of discomfort during prolonged driving. Recommendations to car seat manufacturers to recognize gender and body mass as important variables in the design of a car seat should be made.

There are several advantages to replacing CNC machinery with robotic machine tools and as such robotic machining is emerging into the manufacturing and metal cutting industry. There remain several disadvantages to using robots over CNC stations primarily due to flexibility in robotic manipulators, which severely reduces accuracy when operating under high machining forces. This flexibility is dependent on configuration and thus the configuration can be optimised through posture selection to minimise deflection. In previous work little has been done to account for operating frequency and the additional complications that can arise from frequency dependent responses of robotic machine tools. A Fanuc S-360 manipulator was used to experimentally investigate the benefits of including frequency compensation in posture selection. The robot dynamics first had to be identified and experimental modal analysis was selected due the inherent dependency on frequency characteristics. Specifically, a circle fit operation identified modal parameters and a least squares optimisation generated dynamic parameters for a spatial model. A rigid-link flexible-joint model was selected and a pseudo-joint was used to create an additional DOF to accommodate link flexibility. Posture optimisation was performed using a gradient-descent algorithm that used several starting points to identify a global minimum. The results showed that a subset of modal data that excluded the mode shape vectors could be used to create a model to predict the manipulator vibration response. It was also found that the receptance variation of the manipulator with configuration was insufficient to verify the optimisation throughout the entire selected workspace; however the model was shown to be useful in regions containing multiple peaks where the modelled dynamics were dominant over the highly volatile measured data. Simulations were performed on a redundant planar manipulator to overcome the lack of receptance variation found in the Fanuc manipulator. These simulations showed that there were two mechanisms driving the optimisation; overall amplitude reduction and frequency specific amplitude reduction. Using a stiffness posture measure for comparison, the results of the frequency specific reduction could be separated and were found to be particularly beneficial when operating close to resonant frequencies.

Background: Currently, if traveling the posted speed limit, the typical commuter driver in the Toronto Metropolitan area will travel round trip upwards of 60 minutes a day to work (Heisz and LaRochelle-Cote, 2005). As urban congestion continues to rise, commuting distances and times will progressively increase, placing commuter drivers at increased risk of developing musculoskeletal disorders (Porter and Gyi, 2002; Walsh et al., 1989; Chen et al., 2005; Sakakibara et al., 2006). As urban areas continue to expand, it is believed that a greater percentage of our urban populations will be defined as overweight or obese (Puska et al., 2003). To date the influence of body mass on driver posture, pressure distribution and discomfort during a prolonged driving situation has been left relatively untested. The purpose of this investigation is to determine the influence body mass has on driver posture, pressure distribution and discomfort during a prolonged driving situation. Methodology: Twelve male and 12 female participants, between 167 and 172 cm in stature were used in this investigation. Even numbers of males were assigned to either a light (51.3-57.7 kg), moderate (63.7-69.4 kg), or heavy (82.7-92.0 kg) body mass group. Participants were than placed in a 2 hour in lab driving simulation. During the simulation, lumbar flexion, pelvic angle, joint/segment angles, pressure distribution and discomfort were recorded. A three way mixed general linear model was used to determine if significant (α = 0.05) differences in discomfort, posture and/or interface pressure measurements existed over time. Results: Heavy drivers displayed increased total IT pressures and total seat pan/back pressures during driving. When normalizing these total pressures to area, differences in total IT pressure recorded from the seat pan, and total pressure recorded from the seat back were not significantly different (α = 0.05) across body mass groups. Due to the lack of seat pan accommodation with respect to surface area, the heavy body mass group’s total pressures per unit area for the seat pan was elevated relative to the lighter body mass groups. No differences in two-dimensional joint or segment kinematics and ratings of perceived discomfort were observed between body mass groups or between genders. Gender specific lumbo-pelvic postures and pressure distribution profiles were observed. Conclusion: With appropriate design of the seat pan to accommodate heavy body mass populations with respect to seat pan area, the influence of body mass as a potential risk factor in the development of discomfort would be reduced. With stature and body mass controlled between gender groups, biomechanical differences in both pressure distribution and lumbo-sacral postures were observed between males and females, verifying gender as a risk factor in the development of discomfort during prolonged driving. Recommendations to car seat manufacturers to recognize gender and body mass as important variables in the design of a car seat should be made.

There are several advantages to replacing CNC machinery with robotic machine tools and as such robotic machining is emerging into the manufacturing and metal cutting industry. There remain several disadvantages to using robots over CNC stations primarily due to flexibility in robotic manipulators, which severely reduces accuracy when operating under high machining forces. This flexibility is dependent on configuration and thus the configuration can be optimised through posture selection to minimise deflection. In previous work little has been done to account for operating frequency and the additional complications that can arise from frequency dependent responses of robotic machine tools. A Fanuc S-360 manipulator was used to experimentally investigate the benefits of including frequency compensation in posture selection. The robot dynamics first had to be identified and experimental modal analysis was selected due the inherent dependency on frequency characteristics. Specifically, a circle fit operation identified modal parameters and a least squares optimisation generated dynamic parameters for a spatial model. A rigid-link flexible-joint model was selected and a pseudo-joint was used to create an additional DOF to accommodate link flexibility. Posture optimisation was performed using a gradient-descent algorithm that used several starting points to identify a global minimum. The results showed that a subset of modal data that excluded the mode shape vectors could be used to create a model to predict the manipulator vibration response. It was also found that the receptance variation of the manipulator with configuration was insufficient to verify the optimisation throughout the entire selected workspace; however the model was shown to be useful in regions containing multiple peaks where the modelled dynamics were dominant over the highly volatile measured data. Simulations were performed on a redundant planar manipulator to overcome the lack of receptance variation found in the Fanuc manipulator. These simulations showed that there were two mechanisms driving the optimisation; overall amplitude reduction and frequency specific amplitude reduction. Using a stiffness posture measure for comparison, the results of the frequency specific reduction could be separated and were found to be particularly beneficial when operating close to resonant frequencies.

名古屋大学博士学位論文 学位の種類 : 博士(医学)(課程) 学位授与年月日:平成6年3月25日 寳珠山稔氏の博士論文として提出された