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In this chapter, the dynamics equations of motion of ALICE (Assistive Lower lImb Controlled Exoskeleton) exoskeleton robot are found. First the ALICE project is presented. Then, the D’Alembert formulation in order to find the dynamic equations of motion is applied. Finally, these equations are validated through the joint’s torque obtained with a dynamic simulation using an ALICE’s MATLAB/Simulink equivalent model, and the dataset used for testing was obtained from healthy subjects and was captured with the commercial medical equipment CODA motion system. MATLAB as programming tool and testing platform is used.

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D’Alembert General Formulation

  • 章节

  • 发表日期：

    2025年

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  • Manuel Cardona,
  • Fernando E. Serrano

摘要

In this chapter, the dynamics equations of motion of ALICE (Assistive Lower lImb Controlled Exoskeleton) exoskeleton robot are found. First the ALICE project is presented. Then, the D’Alembert formulation in order to find the dynamic equations of motion is applied. Finally, these equations are validated through the joint’s torque obtained with a dynamic simulation using an ALICE’s MATLAB/Simulink equivalent model, and the dataset used for testing was obtained from healthy subjects and was captured with the commercial medical equipment CODA motion system. MATLAB as programming tool and testing platform is used.