Abstract
For the rehabilitation it is often recommendable to emulate the movement of a healthy subject as much as possible.
The human gait requires relatively high velocities and peaks of torque. The electric motors able to deliver such power are very heavy. It is of crucial importance to reduce the weight of the motor because of commodity of the patient, energy consumption, wearability, etc.
Typically, the engineers select the motors so they can deliver higher torques than the maximal required. However, in human gait, the maximal torque is applied in a very brief lapse of time. The average torque is lower.
The electric servomotors are able to afford short overloads.
The power of the motor and its heating depend on the square of the current and thus on the square of the torque.
