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In contrast to the forward kinematics, there are no systematic approaches for solving the inverse kinematics problem. Furthermore, for some morphology of the upper limb rehabilitation robots, the inverse kinematics problem is particularly challenging to solve. Conventional methods to solve the inverse kinematics problem reported in the literature are computationally expensive. In the present work, we propose a deep learning-based model to acquire the joint angles for a given end-effector position. The proposed approach exhibits high efficacy in determining the joint angles for various target positions and can accurately predict the end-effector positions once trained, improving the ability of the upper limb rehabilitation robot to adapt to varying patient needs. Due to its improved capability and effectiveness to track positions, the proposed algorithm lays the foundation for the development of efficient controllers in future.<\/jats:p>","DOI":"10.1007\/s00521-025-11222-5","type":"journal-article","created":{"date-parts":[[2025,4,23]],"date-time":"2025-04-23T12:17:29Z","timestamp":1745410649000},"page":"12991-13009","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Inverse kinematics solution for a six-degree-of-freedom upper limb rehabilitation robot using deep learning models"],"prefix":"10.1007","volume":"37","author":[{"given":"Muhammad Faizan","family":"Shah","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Naveed Ahmad","family":"Khan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Prashant K.","family":"Jamwal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Girija","family":"Chetty","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Goecke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shahid","family":"Hussain","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,4,23]]},"reference":[{"issue":"10","key":"11222_CR1","doi-asserted-by":"publisher","first-page":"1103","DOI":"10.1007\/s11517-011-0797-0","volume":"49","author":"RCV Loureiro","year":"2011","unstructured":"Loureiro RCV, Harwin WS, Nagai K, Johnson M (2011) Advances in upper limb stroke rehabilitation: a technology push. 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