simulation of human foot mechanism with a degree of freedom motion

the need for simulation of human foot mechanism has made researchers and engineers move towards different patterns to describe this movement. in this regard, optimal solutions such as energy consumption, accuracy, etc. are of utmost importance. in this paper, efforts have been made to present a new solution by designing a fully two-dimensional six-bar mechanism with one degree of freedom so that it has the least error with regard to human foot while walking. meanwhile, the findings of this paper present a process for the optimization of multi-bar mechanisms so that they can be employed in any other field such as making human foot prosthesis. here, the particle swarm optimization algorithm was used. the results from the optimization were compared with experimental data regarding human feet. the results show that while optimizing many motor parameters, the proposed six-bar mechanism is able to simulate the movement of the human foot very well.