Abstarct: Using robotic devices is a novel solution for the patient’s rehabilitation exercises. In this thesis, a wearable robot with one DOF joint has been designed and built. In this design, a Pneumatic Artificial Muscle (PAM) and spring are used as the actuator set. employing a pneumatic actuator for interaction between human and robot is the main purpose. After modeling and characterizing of PAM, proxy sliding mode controller has been applied in order to control this interaction. after implementing controller on a one DOF robotic arm according to the model, experimental results have been obtained. Conforming the simulated results by experimental data with human-robot interaction approach verifies the acceptability of the purposed design.