No abstract

À Deus por tudo o que tem me proporcionado o caminho ideal, e ainda mais a me dar forças para trilhar sem pestanejar. Às professoras Dra. Zuleica Bruno Fortes, Dra. Maria Helena Catelli de Carvalho e Dra. Eliana Hiromi Akamine por acreditarem e apoiarem o meu desenvolvimento profissional. Sou muito grato pela oportunidade que recebi. À professora Jane, quem me apoiou desde o início lá em 2001. Ao professor Dr. Anselmo Sigari Moriscot, tenho muito a agradecer pela oportunidade durante o estágio técnico. Agradeço sempre por ter a oportunidade de trabalho e pela amizade. À professora Dra. Cecília Gouveia, sou muito grato pelas horas de ensino e dedicação. À Dra. Lúcia "Malla", pelo incentivo constante e as conversas regradas a café de fim de tarde. Aos professores Dra. Elen Miyabara, Dr. Marcelo Saldanha pelos momentos de inspiração durante meu início de jornada. Aos professores Dra. Soraia Katia Pereira Costa e Dr. Marcelo Nicolás Muscará por me receberem de braços abertos no laboratório nesta nova etapa da minha carreira. Aos grandes amigos de ICB: Cida (Conheeeeeeece)-obrigado pelo auxílio em todos os momentos ! Rosângela "My Friéndy", quer dizer na verdade não... Martinha, Sônia Bá, Ritinha, Tia Irene, Simone, Alicezinha, Julieta, Selminha, Manecas ("e a porcada ?"), Manuel, Magal (Sidney), Adilson e muitos outros, deixo aqui o meu agradecimento. Aos colegas da Biblioteca do ICB, sempre zelosos e prestativos.

da SILVA SOARES, R. Jr. Study of the involvement of dorsal raphe nucleus serotonergic system in the elaboration of defensive behaviour and fear-induced antinociception elicited by corpora quadrigemina chemical stimulation. 2019. 89

No abstract

People bedridden by paralysis/motor disability are subject to several problems due to lack of movement. Then, it is necessary to use equipments that enable the people bedridden stand up and walk, so as to reduce the problems due to lack of movement and the time of rehabilitation, impacting directly on its quality of life. The aim of this work is the development of an exoskeleton to make the movement of people with paralysis / motor impairment in the lower limbs, without help of third parties, to be activated by the user. To provide support, stability and security to the deficient, it was decided to use a structure formed by four legs, being each leg consisting of a parallel chain. The gait was obtained by combining the movement of two mechanisms: crank/rocker, responsible for oscillatory motion of the leg, and cam/follower, responsible for the foot motion on the desired trajectory.To achieve the aim of this work was conducted a study about the types of exoskeletons for locomotion/rehabilitation of people with lower limb paralysis and presented a study on the movement of the lower limb joints. It also presented a mathematical model to obtain the desired path to the foot of the exoskeleton, the static model and the design of the structure elements. In the sequence is presented the simulation of movements of a people during the human gait, experimental tests and the comparison with the human gait developed by a people without disabilities.