During walking, various muscles in the lower limb work together to support movement through the stance and swing phases. In the stance phase, which involves weight-bearing, several key muscles play a role. At heel strike, the tibialis anterior dorsiflexes the foot to prevent it from slapping against the ground, while the quadriceps, including the vastus group and rectus femoris, help extend the knee for stability. The gluteus maximus stabilises the hip and prevents excessive flexion. As the body