Abstarct: Rehabilitation is a field in science working on patients’ muscles and movement empowering. For decades, this field is producing novel methods and technics in the fields of rehabilitation and treatment. Stationary bike is one of the devices that physiotherapists and practitioners were always looking at it as an effective mean to recover movement and muscular abilities. In this Study, two methods for treatment of lower limbs are made possible by design, installing and implementation of different types of mechatronical equipments including actuator, electronic circuits and different types of sensors for patient activity monitoring. Also, it is aimed to provide more smooth movement for patient by designing and installing a flywheel in between pedal and motor. According to the damage level, patient will fall in the active-assisted training or passive training group. In passive training program, patient do not have enough ability to pedal on the bike, so the motor will provide the power to reach a predefined pedaling speed. In this program, feet of patient will pedal in a constant speed above his ability’s speed in a compulsory manner. In active-assisted training mode, patient is already improved enough to have higher ability to pedal in the same constant speed and motor will provide less power according to the pedaling power of patient. Hence, the provided power by motor is set baxsed on the power provided by patient. In this thesis, it is aimed to design the control theory for these two treatment methods and this bike and finally to test its stability. Previous researches proved that such methods improved the treatment period of patients with movement disabilities. In this study, speed control were done by force and speed feedback. Finally, the results showed an accuracy level of 99.2 % for passive method and 96.7% for active method to reach a desired pedaling speed.