Abstarct: Restoring the ability to walk is one of the main goals of all lower extremity rehabilitation exercises. Today, robotic systems have become widely used in the field of rehabilitation because of their precise control of assistive-resistive movements with high repeat ability. Ensuring patient safety in interacting with the robot is one of the necessities of using robotic systems for rehabilitation. Safety includes a variety of robot design and control solutions. In the design phase of the robot's mechanical structure, inherent safety is provided, which is so important. One of the most effective ways to build innate immunity is to lose weight and inertia of the robot. For this reason, the rehabilitation robot designed in this thesis is a cable robot. One of the best rehabilitation strategies for walking practice is treadmill walking using a body weight support system. Therefore, the designed cable robot must remain a pathway for the patient to walk on the treadmill. In passive rehabilitation, where the patient has no movement and doesn’t apply any force to the robot, the method of computed torque control is used for position control. Interactive control strategies such as impedance control and proxy sliding modes have been used for active rehabilitation.