TY - GEN
T1 - Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach
AU - Shah, Muhammad Faizan
AU - Shah, Syed Sohaib Ali
AU - Hussain, Fahad
AU - Jamwal, Prashant K.
AU - Hussain, Shahid
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - To efficiently control the motion of the upper limb rehabilitation robot, it is necessary that correct joint torques are provided. The analytical methods to compute the torque from the inverse dynamics are complex and intricate. For this purpose, a data driven approach based on deep learning model is presented in this study. The algorithm learns the position, velocities, and acceleration of the joints for a given trajectory and predicts the torque required. The results show the efficacy of the proposed algorithm in predicting the joint torques for the given dynamic parameters. The results obtained from this study can be further used in control of the upper limb rehabilitation robot.
AB - To efficiently control the motion of the upper limb rehabilitation robot, it is necessary that correct joint torques are provided. The analytical methods to compute the torque from the inverse dynamics are complex and intricate. For this purpose, a data driven approach based on deep learning model is presented in this study. The algorithm learns the position, velocities, and acceleration of the joints for a given trajectory and predicts the torque required. The results show the efficacy of the proposed algorithm in predicting the joint torques for the given dynamic parameters. The results obtained from this study can be further used in control of the upper limb rehabilitation robot.
KW - Deep learning
KW - Machine learning
KW - Rehabilitation
KW - Upper limb
UR - https://www.scopus.com/pages/publications/105005478038
UR - https://www.scopus.com/inward/citedby.url?scp=105005478038&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-3311-1_19
DO - 10.1007/978-981-96-3311-1_19
M3 - Conference contribution
AN - SCOPUS:105005478038
SN - 9789819633104
T3 - Lecture Notes in Networks and Systems
SP - 235
EP - 244
BT - Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024
A2 - Bansal, Jagdish Chand
A2 - Jamwal, Prashant K.
A2 - Hussain, Shahid
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024
Y2 - 9 September 2024 through 10 September 2024
ER -