Actuation system selection of ALICE exoskeleton robot based on dynamic simulation
García Cena, Cecilia
Martín, Juan Andrés
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Editorial Universidad Don Bosco
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, CODATM 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. Index Terms.
Actuation System , CODAmotion , Dynamics , Exoskeleton , Rehabilitation Robotics , Torque
Cardona, M, García, C. , Martín, J. A. y Rausell, E. (2020) Actuation system selection of ALICE exoskeleton robot based on dynamic simulation, 2020 IEEE ANDESCON, Quito, Ecuador, pp. 1-6, doi: 10.1109/ANDESCON50619.2020.9272197.