Actuation System Selection of ALICE Exoskeleton Robot Based on Dynamic Simulation

摘要

In this paper the actuation system selection for ALICE exoskeleton robot based on the torque obtained from gait analysis of healthy subject and subjects with multiple sclerosis is presented. The exoskeleton robot was designed in Autodesk Inventor considering the weight-body of an average person, then the model is exported to Simscape Multibody and the signals are set from data obtained with commercial medical equipment, CODA™ Motion Analysis System, at the Physiotherapy Clinic of the ONCE Foundation. Finally, considering the nominal and peak the torque obtained, it is proposed the electrical motors, reducers and control board from manufacturer's catalogues.