ORTE exoskeleton: Actuation system dimensioning and selection

In this work is addressed the selection of the electric motors for an upper limb rehabilitation exoskeleton based on the evaluation of the resulting torques needed to perform a set of predefined trajectories considering three load scenarios. The trajectories considered correspond with pure joint movements and the daily living activity of eating. Furthermore, in order to provide smooth movements, it is implemented a sinusoidal-linear-sinusoidal velocity profile. The torques profiles are obtained using the Simscape Multibody simulation environment. Considering the nominal and peaks velocity and resulting torques, it is proposed a set of electric motors commercially available from the manufacturer's catalogues.