Scholarlink

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.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

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

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Muhammad Faizan Shah,
  • Syed Sohaib Ali Shah,
  • Fahad Hussain,
  • Prashant K. Jamwal,
  • Shahid Hussain

摘要

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.