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Article
Publication date: 19 January 2015

Xianzhi Jiang, Zenghuai Wang, Chao Zhang and Liangliang Yang

– The main purpose of this paper is to enhance the control performance of the robotic arm by the controller of fuzzy neural network (FNN).

Abstract

Purpose

The main purpose of this paper is to enhance the control performance of the robotic arm by the controller of fuzzy neural network (FNN).

Design/methodology/approach

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.

Findings

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.

Research limitations/implications

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.

Originality/value

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.

Details

Industrial Robot: An International Journal, vol. 42 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 23 August 2011

Xianzhi Jiang, Caihua Xiong, Ronglei Sun, Xiaolin Huang and Youlun Xiong

The purpose of this paper is to present the static and dynamic characteristics of the rehabilitation joint.

Abstract

Purpose

The purpose of this paper is to present the static and dynamic characteristics of the rehabilitation joint.

Design/methodology/approach

The rehabilitation joint is driven by pneumatic muscle actuators (PMAs). Rehabilitation robot is normally composed of several rehabilitation joints. The static and dynamic characteristics of the rehabilitation joint are important for control of the rehabilitation robot. Analysis and modeling of the rehabilitation joint is based on experiments.

Findings

The static model of the PMA is obtained by the method of curve fitting and achieved better precision compared to the existing representative models. A second‐order model fits the dynamic characteristic of the rehabilitation joint better than a first order one.

Research limitations/implications

The rehabilitation joint and the patient's joint combine to make an independent system, and the unstable factors of the patient's joint make it difficult in precisely modeling the rehabilitation joint.

Originality/value

The characteristics of the rehabilitation joint are all based on the data that were recorded in a series of with experiments, the same with modeling of the rehabilitation joint.

Details

Industrial Robot: An International Journal, vol. 38 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 May 2009

Caihua Xiong, Xianzhi Jiang, Ronglei Sun, XiaoLin Huang and Youlun Xiong

The purpose of this paper is to present the control methods of the exoskeleton robotic arm for stroke rehabilitation.

1596

Abstract

Purpose

The purpose of this paper is to present the control methods of the exoskeleton robotic arm for stroke rehabilitation.

Design/methodology/approach

The robotic arm is driven by the pneumatic muscle actuators. The control system provides independent control for the robot. The joint axes of the robotic arm are arranged to mimic the natural upper limb workspace.

Findings

Findings are the classification of training modes and control methods of rehabilitation training, and the characters of both the instant spasm and the sustaining one.

Research limitations/implications

This paper is a preliminary step in the control system and the kinematical characteristics should be analyzed to achieve high precision of movement.

Originality/value

Based on a hierarchical structure, the control system allows the execution of sequence of switching control methods: position, force, force/position and impedance. Patient‐active‐robot‐passive and patient‐passive‐robot‐active (PPRA) training modes are also presented in this paper. In PPRA mode, the robotic arm can provide pre‐specified resistances on the patient's arm. Both instant and sustaining spasms are taken into account for safety.

Details

Industrial Robot: An International Journal, vol. 36 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 29 January 2020

Amjad Iqbal, Xianzhi Zhang, Muhammad Zubair Tauni and Khalil Jebran

The purpose of this paper is to examine the interaction between competition and corporate payout policy and more specifically to answer the question that whether…

Abstract

Purpose

The purpose of this paper is to examine the interaction between competition and corporate payout policy and more specifically to answer the question that whether competition mitigates the principal–principal agency conflicts and influences firms to distribute dividends to shareholders in Chinese corporations.

Design/methodology/approach

This research models measures of competition with scaled measures of dividends and analyzes a sample of 16,730 firm-year observations from Chinese-listed manufacturing firms for the period spanning 2003 to 2016. Further, this research uses the Tobit model (a censored regression) to empirically test the proposed hypotheses.

Findings

This research finds that intense competition not only mitigates agency problems and forces firms to disgorge cash but also increases a firm’s likelihood to pay dividends and weakens the negative association between agency conflicts and dividends.

Practical implications

The results show an important policy implication for the industry. As the principal–principal agency conflict restrains the dividends, the regulatory authorities could encourage a competitive environment and a more diverse ownership structure to induce a higher dividend rate and protect the minority shareholders. In addition, this study also has implications for other emerging markets characterized by concentrated ownership and principal–principal agency problems.

Originality/value

This study adds to the literature related to the disciplinary role of competition and identifies competition as a significant determinant of corporate payout policy. Furthermore, this research extends earlier research on corporate payout decisions that besides firm-level corporate governance and country-level legal system, industry-level competition also influences corporate payout decisions, significantly.

Details

Journal of Asia Business Studies, vol. 14 no. 3
Type: Research Article
ISSN: 1558-7894

Keywords

Article
Publication date: 31 May 2022

Ploypailin Kijkasiwat, Ahmad Usman Shahid, M. Kabir Hassan and Ahmed Imran Hunjra

This study examines the influence of access to finance and social capital on the improvement of the corporate performance of non-listed firms of Southeast Asian countries…

Abstract

Purpose

This study examines the influence of access to finance and social capital on the improvement of the corporate performance of non-listed firms of Southeast Asian countries. Furthermore, this paper also explores the mediating role of firms' access to finance between the association of social capital and the improvement of corporate performance.

Design/methodology/approach

This study utilizes the Bank Business Environment and Enterprise Performance Survey from 2015 to 2017. Specifically, the survey was administered by the World Bank. Data were analyzed using structural modeling in Smart-PLS.

Findings

The findings show that firms' access to finance and social capital significantly influences the improvement of corporate performance. Additionally, the study’s analysis further reports the mediating role of firms' access to finance between the association of social capital and the improvement of corporate performance.

Practical implications

This study has implications for governments, regulators and policymakers for enhancing access to finance and social capital, and improving corporate performance.

Originality/value

This paper establishes the importance of firms' access to finance and social capital for improving firms' overall performance in the broader context of Southeast Asia.

Details

Managerial Finance, vol. 48 no. 7
Type: Research Article
ISSN: 0307-4358

Keywords

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