Kinematics Solution of ALICE: An Exoskeleton Robot for Rehabilitation

In this paper, a complete kinematics analysis of the ALICE (Assistive Lower lImb Controlled Exoskeleton) Re- habilitation Robot is performed. First the ALICE exoskeleton rehabilitation robot is presented, including its mechanical design. Then, the main features of commercial lower limb exoskeleton robots is discussed. Next, the forward kinematics using the Screw theory is presented, finally the inverse kinematics solution using a geometrical approach is presented. MATLAB
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as programming tool and testing platform is used.