Abstarct: In this thesis, the design of an impedance backstepping control for low-rehabilitation robot baxsed on voltage control strategy is presented. In this thesis, the impedance concept is used in order to realize the robot's flexible behavior against the possible force of the individual foot, and this concept is used in the backstepping control method. In other words, the backstepping controller with impedance controller is used to control position and force for controlling the lower haunch rehabilitation robot, respectively. The innovation of the proposed control scheme is to apply a voltage control strategy instead of a torque control strategy in implementing a backstepping controller. The advantage of a voltage control strategy is that it is free from the dynamic model of the robot and the patient, which has been a major challenge in previous approaches. As a result, the proposed method is simpler, less computationally efficient, and more efficient than torque-baxsed methods. In addition, in the voltage control strategy, the dynamics of the robot actuators are also taken into account. Also, this strategy is not facing to actuators ignoring error in in the torque control strategy. To illustrate the advantages of the proposed method, a comparison with the conventional method is performed. The simulation results show that the proposed method performs better than the conventional method in performing common rehabilitation exercises.