Modeling of a biped robot for investigating foot drop using MATLAB/Simulink

Omer Eldirdiry, Riadh Zaier, Amur Al-Yahmedi, Issam Bahadur, Fady Alnajjar

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


This study explores an alternative approach to the study and investigation of foot drop (weakness of the dorsiflexion muscles of the foot) problem which currently being treated by ankle foot orthosis, functional electrical stimulations, and rehabilitation exercises. This problem occurs due to various reasons, such as a nerve injury. The foot drop issue leads to the inability to lift the front part of the foot and thence it causes the toes to be dragged while walking. This study provides a model of a biped robot which can simulate human cases of foot drop geared towards improving its treatment. The model of the biped robot is described along with tools necessary for simulating contact with the ground and generating gait data using a simulated robot. Specifically and as a contribution of this study, a unique representation of the foot segment (ankle and toe joints) with a foot-drop has been simulated. A conventional feedback controller is used to correct the simulated case of foot drop. The process of setting up the controller parameters, depending on the type of foot drop, is documented, and the broad strategy for solving various foot drop cases is illustrated. The results from considering a study case of a foot-drop problem are represented and discussed that show the capability of this proposed model to simulated and correct the assigned foot-drop issue into the ankle joint. The overarching goal of this study is to produce the required torque data that will be converted into muscle signals to treat real foot drop cases.

Original languageEnglish
Article number101972
JournalSimulation Modelling Practice and Theory
Publication statusPublished - Jan 2020


  • Ankle joint
  • Biped robot
  • Control
  • Foot drop
  • MATLAB/Simulink
  • Simulation model
  • Treatment

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Hardware and Architecture


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