Simulation and gait planning for the bionic leg

Subject Areas : Journal of New Applied and Computational Findings in Mechanical Systems

Hamid Reza Mortazavy Beni ^{1 *} , fatemeh yekta asaei ^{2 *}

1 -
2 - Department of Biomedical Engineering, Ars. C., Islamic Azad University, Arsanjan, Iran

Received: 2025-07-06 Accepted : 2025-09-01 Published : 2025-10-24

Keywords: Foot design, bionic foot, gait, Matlab software,

Abstract :

The animal body has evolved optimally over millions of years to adapt to natural environments. However, severe injuries or limb defects prevent many of them from natural movement and greatly reduce their quality of life. This research aimed to design and develop a bionic leg to restore the locomotor abilities of injured animals. First, using clinical analyses and studying the locomotor behavior of a dog, its physiological needs were identified. Then, with detailed modeling in MATLAB software, a bionic leg was designed. Dynamic simulations showed that the height of the step and the speed of the animals' movement have a direct impact on the performance of the bionic leg. In particular, the results showed that an optimal step height can provide the best balance between driving forces and movement control. At the same time, a further increase reduces the ability to control and accelerate. Also, as the movement speed increases, the propulsive force generation decreases. This reduction is due to the increase in torque required for acceleration and the reduction in the deceleration of the leg. The final results showed that the developed bionic leg can restore the animals' natural locomotor abilities. This technology not only allows injured animals to return to daily activities such as walking and running, but it can also contribute to the conservation of rare and endangered species. The findings of this research pave the way for improving rehabilitation technologies in the field of biomedical engineering.

References:


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