Abstarct: This thesis presents a novel control approach for an upper-limb rehabilitation robot baxsed on regulating dynamic behavior which called impedance control. Impedance control is common approach for rehabilitation robots because of interaction of these robots with human. In comparsion with other control methods, the impedance control which has been used by many different physiotherapy exercises is more flexible and robust in the presence of uncertainties. Impedance control with fixed impedance coefficients is not effective because of the changes of environment conditions. The desirable case is these coefficients regulated baxsed on the changes of the patient conditions and the patient has active cooperation in exercises. This thesis proposed voltage-baxsed intelligent adaptive impedance control for an upper-limb rehabilitation robot. Benefits of voltage control are free from dynamics of robot system and simple compared with torque control. In this scheme an intelligent algorithm baxsed on recovery of the patient determines desired impedance coefficients. Then, using a gradient descent algorithm adjusts impedance coefficients of controller. Three schemes of torque-baxsed impedance control, voltage-baxsed impedance control and intelligent adaptive impedance control are compared and simulated on a rehabilitation robot.