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Table 1 Weight and bias of proposed MLP neural network for joint1 approximation

From: Optimized intelligent control of a 2-degree of freedom robot for rehabilitation of lower limbs using neural network and genetic algorithm

w(1,1)

w(2,1)

bi(1)

bi(2)

−1.3370

−2.7945

2.3883

0.4767

0.1686

−0.6542

−0.3739

 

0.1437

−0.3735

−0.1026

 

0.1332

−0.2878

−0.0565

 

0.1914

−0.8640

−0.6795

 

0.9674

2.5398

0.0812

 

1.1624

−0.6009

−1.2252

 

−0.1694

0.6654

0.3890

 

−0.1473

0.4066

0.1242

 

0.1583

−0.5220

−0.2194

 

3.0389

−1.9478

−5.9277

 

−0.0881

1.4560

−1.0628

 

−0.1891

0.8422

0.6456

 

0.1916

−0.8684

−0.6839

 

0.1392

−0.3344

−0.0800

 

0.1100

−0.1665

−0.0099

 

−0.1663

0.6228

0.3329

 

−1.0580

0.0915

1.6298

 

11.9988

1.5388

−23.2530

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