3D modeling and simulation based on kinematic analysis for hippotherapy

In this thesis study, natural gait (Normal, Kenter and Trot) of horses whose anatomy is similar to human anatomy were determined using image processing techniques and kinematic analysis in Kinovea environment and then 3D solid models were extracted in Solidworks environment. Gaining the motion capability to the extracted solid models is provided by the simulation software prepared on the Matlab-SimMechanic platform. The performance of transferring movements to a developed system was evaluated by comparing the findings obtained as results of image processing and simulation. From the national and international literature studies, it has been observed that modeling, simulation, and analysis of solid models are carried out in computer-aided environments. Matlab-SimMechanics tool was preferred in the literature for biomimetic analysis of the developed solid models and kinematic analyzes were performed to control the systems. The performance evaluation of the developed systems was performed using image analysis method. However, in these studies, the performance rates of biomimetic analyzes are not given and their mathematical equations are not specified. This study aims to develop a system that enables testing of biomimetic systems, which are costly in the design and construction stages, before being physically implemented. Biomimetic analyzes were assessed on the real system after mathematical equations were derived in the MATLAB environment and performance rates were calculated. With the developed system, joint angles, the ability to reach the correct position, and the ability to move were analyzed, and it was demonstrated how mathematical equations required for the execution of movements could be derived. As a result, a design process model for motion analysis, simulation and control of different living groups was presented with the equations obtained by formulating the information obtained from the developed system.