Abstarct: In this thesis has explained, a new robust fuzzy impedance control using voltage control strategy is introduced for the hip and knee rehabilitation robot which, named physiotherabot. The novelty is using voltage control strategy scheme by replacing traditional torque control strategy. Also to cope with different uncertainty, a novel robust adaptive fuzzy is presented. The model baxsed control methods need to precise information from system; this is while uncertainties may occures error in performance of whole system. The adaptive fuzzy control is used to overcome this challenge for practical applications; torque control approach has been employed for robot manipulators. In aforementioned scheme is baxsed on torque control of robot lixnks, but we are in face to challenges. The control objective is tracking desired trajectory and desired impedance. The simulation results confirm the effectiveness of proposed method.