{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T02:48:53Z","timestamp":1776134933194,"version":"3.50.1"},"reference-count":24,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2015,1,19]],"date-time":"2015-01-19T00:00:00Z","timestamp":1421625600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015,1,19]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>\u2013 The main purpose of this paper is to enhance the control performance of the robotic arm by the controller of fuzzy neural network (FNN).<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>\u2013 The robot system has characters of high order, time delay, time variation and serious nonlinearity. The classical PID controller cannot achieve satisfactory performance in control of such a complex system. This paper combined the fuzzy control with neural networks and established the FNN controller and applied it in control of the robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>\u2013 The experimental results showed that the FNN controller had excellent performances in position control of the rehabilitation robotic arm such as fast response, small overshoot and small vibration.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>\u2013 This work is focused on the static FNN algorithm by updating the second and fifth layers of the membership functions. The performance can be improved further if the third layer (reasoning layer) can be updated online.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>\u2013 Based on a hierarchical structure of the FNN controller, this paper designed the FNN controller and applied it in control of the rehabilitation robot driven by pneumatic muscles.<\/jats:p><\/jats:sec>","DOI":"10.1108\/ir-07-2014-0374","type":"journal-article","created":{"date-parts":[[2015,1,14]],"date-time":"2015-01-14T04:57:11Z","timestamp":1421211431000},"page":"36-43","source":"Crossref","is-referenced-by-count":26,"title":["Fuzzy neural network control of the rehabilitation robotic arm driven by pneumatic muscles"],"prefix":"10.1108","volume":"42","author":[{"given":"Xianzhi","family":"Jiang","sequence":"first","affiliation":[]},{"given":"Zenghuai","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Chao","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Liangliang","family":"Yang","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020122702072466200_b1","doi-asserted-by":"crossref","unstructured":"Balasubramanian, K. and Rattan, K.S. (2005), \u201cTrajectory tracking control of a pneumatic muscle system using fuzzy logic\u201d, Annual Meeting of the North American on Fuzzy Information Processing Society, pp. 472-477.","DOI":"10.1109\/NAFIPS.2005.1548581"},{"key":"key2020122702072466200_b19","doi-asserted-by":"crossref","unstructured":"Chan, S.W. , Lilly, J.H. , Repperger, D.W. and Berlin, J.E. (2003), \u201cFuzzy PD+I learning control for a pneumatic muscle\u201d, The 12th IEEE International Conference on Fuzzy Systems, Vol. 1, pp. 278-283.","DOI":"10.1109\/FUZZ.2003.1209375"},{"key":"key2020122702072466200_b2","doi-asserted-by":"crossref","unstructured":"Chen, C.S. (2008), \u201cDynamic structure neural-fuzzy networks for robust adaptive control of robot manipulators\u201d, IEEE Transactions on Industrial Electronics , Vol. 55 No. 9, pp. 3402-3414.","DOI":"10.1109\/TIE.2008.926778"},{"key":"key2020122702072466200_b3","doi-asserted-by":"crossref","unstructured":"Culmer, P.R. , Jackson, A.E. , Makower, S. , Richardson, R. , Cozens, J.A. , Levesley, M.C. and Bhakta, B.B. (2010), \u201cControl strategy for upper limb robotic rehabilitation with a dual robot system\u201d, IEEE Transactions on Mechatronics , Vol. 15 No. 4, pp. 575-585.","DOI":"10.1109\/TMECH.2009.2030796"},{"key":"key2020122702072466200_b4","doi-asserted-by":"crossref","unstructured":"Du, H.P. and Zhang, N. (2008), \u201cApplication of evolving Takagi-Sugeno fuzzy model to nonlinear system identification\u201d, Applied Soft Computing Journal , Vol. 8 No. 1, pp. 676-686.","DOI":"10.1016\/j.asoc.2007.05.006"},{"key":"key2020122702072466200_b7","doi-asserted-by":"crossref","unstructured":"Furqan, Iqbal, L. , Malik, A.N. and Haider, W. (2010), \u201cNeural network based aircraft control\u201d, Proceedings of IEEE Student Conference on Research and Development, pp. 262-266.","DOI":"10.1109\/SCORED.2010.5704013"},{"key":"key2020122702072466200_b8","doi-asserted-by":"crossref","unstructured":"Guerrero, C.D.R. , Marinero, J.C.F. and Turiel, J.P. (2009), \u201cRobot adaptive behavior to suit patient needs and enable more intensive rehabilitation tasks\u201d, IEEE International Conference on Mechatronics, pp. 1-6.","DOI":"10.1109\/ICMECH.2009.4957230"},{"key":"key2020122702072466200_b9","doi-asserted-by":"crossref","unstructured":"Guidali, M. , Schmiedeskamp, M. , Klamroth, V. and Riener, R. (2009), \u201cAssessment and training of synergies with an arm rehabilitation robot\u201d, IEEE International Conference on Rehabilitation Robotics, pp. 772-776.","DOI":"10.1109\/ICORR.2009.5209516"},{"key":"key2020122702072466200_b13","doi-asserted-by":"crossref","unstructured":"He, J. , Koeneman, E.J. , Schultz, R.S. , Huang, H. , Wanberg, J. , Herring, D.E. , Sugar, T. , Herman, R. and Koeneman, J.B. (2005), \u201cDesign of a robotic upper extremity repetitive therapy device\u201d, in 9th International Conference on Rehabilitation Robotics (ICORR) , Chicago, IL, pp. 95-98.","DOI":"10.1109\/ICORR.2005.1501060"},{"key":"key2020122702072466200_b10","doi-asserted-by":"crossref","unstructured":"Hogan, N. and Krebs, H.I. (2004), \u201cInteractive robots for neuro-rehabilitation\u201d, Restorative Neurology and Neuroscience , Vol. 22 No. 3, pp. 349-358.","DOI":"10.3233\/RNN-2004-00277"},{"key":"key2020122702072466200_b11","doi-asserted-by":"crossref","unstructured":"Jiang, X. , Xiong, C. , Sun, R. and Xiong, Y. (2011a), \u201cFuzzy hybrid force-position control for the robotic arm of an upper limb rehabilitation robot powered by pneumatic muscles\u201d, IEEE International Conference on E-Product E-Service and E-Entertainment, Henan, China, pp. 1-4, 7-9.","DOI":"10.1109\/ICEEE.2010.5661226"},{"key":"key2020122702072466200_b12","doi-asserted-by":"crossref","unstructured":"Jiang, X. , Xiong, C. , Sun, R. and Xiong, Y. (2011b), \u201cStatic and dynamic characteristics of Rehabilitation Joint Powered by Pneumatic Muscles\u201d, Industrial Robot , Vol. 38 No. 5, pp. 486-491.","DOI":"10.1108\/01439911111154054"},{"key":"key2020122702072466200_b14","doi-asserted-by":"crossref","unstructured":"Lin, F.J. and Chou, P.H. (2009), \u201cAdaptive control of two-axis motion control system using interval type-2 fuzzy neural network\u201d, IEEE Transactions on Industrial Electronics , Vol. 56 No. 1, pp. 178-193.","DOI":"10.1109\/TIE.2008.927225"},{"key":"key2020122702072466200_b16","doi-asserted-by":"crossref","unstructured":"Nancy, B. , Roderick, J. , Mohamed, O. , Hanny, M. , Kotler, J. , Smith, A. , Tang, M. and Abrams, G. (2003), \u201cEffectiveness of sensory and motor rehabilitation of the upper limb following the principles of neuroplasticity: patients stable poststroke\u201d, Neurorehabilitation and Neural Repair , Vol. 17 No. 3, pp. 176-191.","DOI":"10.1177\/0888439003257137"},{"key":"key2020122702072466200_b6","doi-asserted-by":"crossref","unstructured":"Repperger, D.W. , Phillips, C.A. , Johnson, D.C. , Harmon, R.D. and Johnson, K. (1997), \u201cA study of pneumatic muscle technology for possible assistance in mobility\u201d, Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 51884-51887.","DOI":"10.1109\/IEMBS.1997.758701"},{"key":"key2020122702072466200_b5","doi-asserted-by":"crossref","unstructured":"Repperger, D.W. , Phillips, C.A. , Neidhard-Doll, A. , Reynolds, D.B. and Berlin, J. (2006), \u201cActuator design using biomimicry methods and a pneumatic muscle system\u201d, Control Engineering Practice , Vol. 14 No. 9, pp. 999-1009.","DOI":"10.1016\/j.conengprac.2005.06.009"},{"key":"key2020122702072466200_b17","unstructured":"Stokes, M. (1998), Neurological Physiotherapy , Mosby International Limited, London."},{"key":"key2020122702072466200_b18","doi-asserted-by":"crossref","unstructured":"Sugar, T.G. , He, J. , Koeneman, E.J. , Koeneman, J.B. , Herman, R. , Huang, H. , Schultz, R.S. , Herring, D.E. , Wanberg, J. , Balasubramanian, S. , Swenson, P. and Ward, J.A. (2007), \u201cDesign and control of RUPERT: a device for robotic upper extremity repetitive therapy\u201d, IEEE Transactions on Neural Systems and Rehabilitation Engineering , Vol. 15 No. 3, pp. 336-346.","DOI":"10.1109\/TNSRE.2007.903903"},{"key":"key2020122702072466200_b20","doi-asserted-by":"crossref","unstructured":"Takagi, T. and Sugeno, M. (1985), \u201cFuzzy identification of systems and its applications to modeling and control\u201d, IEEE Transaction on Systems, Man and Cybernetics , Vol. SMC-15 No. 1, pp. 116-132.","DOI":"10.1109\/TSMC.1985.6313399"},{"key":"key2020122702072466200_b21","doi-asserted-by":"crossref","unstructured":"Thanh, T.D.C. and Ahn, K.K. (2006), \u201cNonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network\u201d, Mechatronics , Vol. 16 No. 9, pp. 577-587.","DOI":"10.1016\/j.mechatronics.2006.03.011"},{"key":"key2020122702072466200_b15","unstructured":"Tsagarakis, N. and Calwell, D.G. (2000), \u201cImproved modeling and assessment of pneumatic muscle actuators\u201d, IEEE Inter-national Conference on Robotics and Automation, Vol. 4, pp. 3641-3646."},{"key":"key2020122702072466200_b23","unstructured":"Volpe, B.T. , Krebs, H.I. and Hogan, N. (2003), \u201cRobot-aided sensorimotor training in stroke rehabilitation\u201d, Advance Neurology , Vol. 92, pp. 429-433."},{"key":"key2020122702072466200_b22","doi-asserted-by":"crossref","unstructured":"Volpe, B.T. , Krebs, H.I. , Hogan, N. , Edelstein, L. , Diels, C. and Aisen, M. (2000), \u201cA novel approach to stoke rehabilitation: Robot-aided sensorimotor stimulation\u201d, Nmrology , Vol. 54 No. 10, pp. 1938-1944.","DOI":"10.1212\/WNL.54.10.1938"},{"key":"key2020122702072466200_b24","doi-asserted-by":"crossref","unstructured":"Wai, R.J. and Liu, C.M. (2009), \u201cdesign of dynamic petri recurrent fuzzy neural network and its application to path-tracking control of nonholonomic mobile robot\u201d, IEEE Transactions on Industrial Electronics , Vol. 56 No. 7, pp. 2667-2683.","DOI":"10.1109\/TIE.2009.2020077"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-07-2014-0374","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2014-0374\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2014-0374\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:27Z","timestamp":1753393167000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/42\/1\/36-43\/175004"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,1,19]]},"references-count":24,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,1,19]]}},"alternative-id":["10.1108\/IR-07-2014-0374"],"URL":"https:\/\/doi.org\/10.1108\/ir-07-2014-0374","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2015,1,19]]}}}