Jack Miller was relieved to make his first MotoGP appearance of 2016 on Wednesday at Phillip Island and stated the leg that he broke in a training accident four weeks ago is "getting more motion every day".

The Australian was absent from the Sepang test after fracturing his right tibula and fibula in a motocross accident and admitted doctors were initially against him gaining track time at his home track.

Using a boot two sizes bigger than what he normally wears, Miller posted the ninth fastest time on his sixth and final lap of the day and later stated that he is more than pleased with his recovery process.

"I was back in the gym after two days and the recovery has been really good," said the 21-year old. "Even to be back here walking less than a month later is good and to be back and riding a bike I'm happy.

"The doctors were a bit against me riding here but when they saw how quickly I was healing they were a bit better about it. I'm getting more motion every day and I'm working hard with the physios in Townsville who work with some football players."

The 2014 Moto3 runner up acknowledges that he needs to adjust his riding style further to accommodate the injury but was pleased to be back on a MotoGP machine for the first time since the post-race test in Valencia in November.

"I'm using a boot that's two sizes bigger but it wasn't a big issue today. When I'm riding the bike the ankle is fine but when I'm sitting in the paddock or sitting with the boot on the carbon piece on my ankle rubs but once I'm riding and I've got the adrenaline flowing it's OK.

"I can feel it and I'll have to change my riding style a bit because I can't really pivot off my ankle in the mid-corner but we'll work on that for tomorrow and even after the few laps I know what I need to do to change the style.

"It was good to get onto the bike and smash out some laps. It helps for me to know what I have to do tomorrow and how I have to adjust my riding style so it was key to get some laps today. We were fortunate in the gaps between the bad weather and the not so bad weather that we could get some laps in."

With factory HRC riders Marc Marquez and Dani Pedrosa struggling to adapt the '16 spec electronics software package to the new machine, satellite rider Miller will remain on the 2015 machine for this test.

"We're going to need to do some work with the electronics," he continued. "For this test we want to get miles but already after only a couple of laps today we know that we have to change some things such as the suspension."