Abstract: The impedance control theory is applied to the walking rehabilitative robot system, and the location-based
impedance control model is used to design system controller. Impedance model based gait trajectory adaption algorithm is
proposed, and the system error is analyzed. SolidWorks, Matlab and Adams are integrated as a united simulation platform
for virtual prototype of the robot to develop the experiment of active training，and the experiments with healthy subjects is
implemented on physical prototype . The results shows that the robot can constantly adjust its gait trajectory according to
human-machine interaction force to meet the patients’ gait request, and the adaptive level of gait and the training flexibility
can be improved by adjusting the impedance parameters. The controller serves the purpose of patients active participating in
rehabilitation training.