In this chapter, the dynamics analysis of the ALICE (Assistive Lower lImb Controlled Exoskeleton) Rehabilitation Robot is performed. First the homogeneous transformation matrices are defined. Then, the Lagrange-Euler formulation in order to find the dynamic equations is used. Finally, the equations are validated, and comparing the results with a dynamic simulation through ALICE’s CAD model and MATLAB Simscape Multibody, the test signals correspond to real gait data obtained from healthy subjects and were captured with commercial medical equipment. MATLAB as programming tool and testing platform is used.