Nowadays, functional electrical stimulation (FES) is used as an effective method for restoration of the movement in the paraplegics. In the clinical applications of FES, the surface electrodes are chosen for stimulation of muscles. The major impediments of using surface electrodes are lack of the isolated contraction and activation of the deep muscles which limit the selective muscle activation. To deal with these problems, intramuscular electrodes have been proposed. One important challenge of FES using the intramuscular stimulation is control of movement. In this paper, an adaptive fuzzy-sliding mode control is proposed to control of rat knee-joint movement which is based on the synergic combination of an adaptive fuzzy sliding mode control with an adaptive neural control. The results of experiments on the rats show that the proposed control method provides accurate tracking control with fast convergence for different reference trajectories and it can generate control signals to compensate the muscle fatigue.