Actuation system selection of ALICE exoskeleton robot based on dynamic simulation
Fecha
2020
Autores
Cardona, Manuel
García Cena, Cecilia
Martín, Juan Andrés
Rausell, Estrella
Título de la revista
ISSN de la revista
Título del volumen
Editor
Editorial Universidad Don Bosco
Resumen
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.
Descripción
Palabras clave
Actuation System , CODAmotion , Dynamics , Exoskeleton , Rehabilitation Robotics , Torque
Citación
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.