Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach

Muhammad Faizan Shah; Syed Sohaib Ali Shah; Fahad Hussain; Prashant K. Jamwal; Shahid Hussain

doi:10.1007/978-981-96-3311-1_19

Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach

Muhammad Faizan Shah
, Syed Sohaib Ali Shah
, Fahad Hussain
, Prashant K. Jamwal
, Shahid Hussain

AI & Robotics

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024
Editors	Jagdish Chand Bansal, Prashant K. Jamwal, Shahid Hussain
Publisher	Springer
Pages	235-244
Number of pages	10
ISBN (Print)	9789819633104
DOIs	https://doi.org/10.1007/978-981-96-3311-1_19 https://doi.org/10.1007/978-981-96-3311-1_19
Publication status	Published - 2025
Event	International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024 - Bruce, Australia Duration: 9 Sept 2024 → 10 Sept 2024

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1295
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024
Country/Territory	Australia
City	Bruce
Period	9/09/24 → 10/09/24

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Shah, M. F., Shah, S. S. A., Hussain, F., Jamwal, P. K., & Hussain, S. (2025). Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach. In J. C. Bansal, P. K. Jamwal, & S. Hussain (Eds.), Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024 (pp. 235-244). (Lecture Notes in Networks and Systems; Vol. 1295). Springer. https://doi.org/10.1007/978-981-96-3311-1_19, https://doi.org/10.1007/978-981-96-3311-1_19

Shah, Muhammad Faizan ; Shah, Syed Sohaib Ali ; Hussain, Fahad et al. / Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach. Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024. editor / Jagdish Chand Bansal ; Prashant K. Jamwal ; Shahid Hussain. Springer, 2025. pp. 235-244 (Lecture Notes in Networks and Systems).

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title = "Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach",

abstract = "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.",

keywords = "Deep learning, Machine learning, Rehabilitation, Upper limb",

author = "Shah, \{Muhammad Faizan\} and Shah, \{Syed Sohaib Ali\} and Fahad Hussain and Jamwal, \{Prashant K.\} and Shahid Hussain",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024 ; Conference date: 09-09-2024 Through 10-09-2024",

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language = "English",

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series = "Lecture Notes in Networks and Systems",

publisher = "Springer",

pages = "235--244",

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}

Shah, MF, Shah, SSA, Hussain, F, Jamwal, PK & Hussain, S 2025, Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach. in JC Bansal, PK Jamwal & S Hussain (eds), Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024. Lecture Notes in Networks and Systems, vol. 1295, Springer, pp. 235-244, International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024, Bruce, Australia, 9/09/24. https://doi.org/10.1007/978-981-96-3311-1_19, https://doi.org/10.1007/978-981-96-3311-1_19

Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach. / Shah, Muhammad Faizan; Shah, Syed Sohaib Ali; Hussain, Fahad et al.
Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024. ed. / Jagdish Chand Bansal; Prashant K. Jamwal; Shahid Hussain. Springer, 2025. p. 235-244 (Lecture Notes in Networks and Systems; Vol. 1295).

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

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

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DO - 10.1007/978-981-96-3311-1_19

M3 - Conference contribution

AN - SCOPUS:105005478038

SN - 9789819633104

T3 - Lecture Notes in Networks and Systems

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BT - Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024

A2 - Bansal, Jagdish Chand

A2 - Jamwal, Prashant K.

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T2 - International Conference on Sustainable Computing and Intelligent Systems, SCIS 2024

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Shah MF, Shah SSA, Hussain F, Jamwal PK, Hussain S. Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach. In Bansal JC, Jamwal PK, Hussain S, editors, Sustainable Computing and Intelligent Systems - Proceedings of SCIS 2024. Springer. 2025. p. 235-244. (Lecture Notes in Networks and Systems). doi: 10.1007/978-981-96-3311-1_19, 10.1007/978-981-96-3311-1_19

Inverse Dynamics Solution of an Upper Limb Rehabilitation Robot Using Deep Learning Approach

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