Authors:
Amer Matrood Imran,Hayder M. Abbood,Ghanim M. Hachim,Salah Mahdi Ali,Mohammad Reza Haghjoo,Borhan Beigzadeh,DOI NO:
https://doi.org/10.26782/jmcms.2026.07.00011Keywords:
Humanoid-Jansen walking mechanism,bipedal prosthetic leg,assistive mobility device,gait rehabilitation,energy-efficient actuation,kinematic analysis,Abstract
The modified Humanoid-Jansen Walking Mechanism provides bio-inspired gait patterns for assistive mobility devices. This study presents a novel bipedal prosthetic-leg system designed to replace wheelchair locomotion by enabling users to traverse multiple terrains with reduced energy demand. Each leg consists of an eight-bar linkage actuated by a motor–gearbox assembly mounted beneath a medical saddle-chair support. Dynamic simulations show that the mechanism generates a natural foot trajectory with a 5.2-unit step length and 2.7-unit step height, closely matching human gait kinematics. Comparative kinematic analysis demonstrates that the hip, knee, and ankle angle patterns follow the temporal and amplitude trends of natural walking. Energy-consumption analysis reveals that the baseline fully motor-driven system requires relatively high electrical input, while the integration of a passive spring system reduces motor load by approximately 20–30%, and using lightweight materials lowers total energy consumption by an additional 15–25%. Implementing an intelligent control algorithm further decreases effective motor duty cycle by ~30% per gait cycle. Simulation results also show that the proposed mechanism maintains stable walking over sandy, uneven, and sloped terrains and improves dynamic weight distribution for the seated rider. These findings indicate that the system offers a feasible, energy-efficient mobility solution for individuals with severe physical disabilities.Refference:
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