In this chapter, the dynamics analysis of ALICE (Assistive Lower lImb Controlled Exoskeleton) Rehabilitation Robot is presented. First the ALICE project is presented. Then, the recursive Newton-Euler approach in order to find the dynamic equations of motion is applied. Finally, the equations are validated comparing the joint’s torque obtained with the dynamic simulation using an ALICE’s MATLAB equivalent model, the dataset using for testing correspond to real gait data obtained from healthy subjects and were captured with the commercial medical equipment CODA motion system. MATLAB as programming tool and testing platform is used.