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Founded on the novel inverse neural NARX model dynamically identified to learn well all nonlinear characteristics of the contact force dynamics of the 2-axes PAM-based manipulator, the novel proposed neural FNN-PID-DF force controller is innovatively implemented in order to directly force control the 2-axes PAM robot system used as a rehabilitation device subjected to internal systematic interactions and external contact force deviations. The performance of the experimental tests has proven the advantages and merits of the new force control method compared to the classical PID force control method. The new neural FNN-PID-DF force controller guides the wrist\/hand of subject\/patient to successfully generate the predefined desired force values.<\/jats:p>","DOI":"10.1017\/s0263574718000450","type":"journal-article","created":{"date-parts":[[2018,6,1]],"date-time":"2018-06-01T02:50:22Z","timestamp":1527821422000},"page":"1333-1362","source":"Crossref","is-referenced-by-count":8,"title":["Advanced force control of the 2-axes PAM-based manipulator using adaptive neural networks"],"prefix":"10.1017","volume":"36","author":[{"given":"Ho Pham Huy","family":"Anh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cao","family":"Van Kien","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nguyen Thanh","family":"Nam","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,6,1]]},"reference":[{"key":"S0263574718000450_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.09.010"},{"key":"S0263574718000450_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000806"},{"key":"S0263574718000450_ref33","unstructured":"D. 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