Abstract: A new fuzzy and adaptive impedance force control method is presented to solve the problem that the assistive/ resistive forces can not be regulated in real time according to the impaired limb's physical recovery condition in robotaided neurorehabilitation.Firstly,the interactive force between the robot and impaired limb is detected,and then the impaired limb's physical condition is estimated online by using an identification algorithm.Finally,the interactive force between them is regulated in real time using a fuzzy impedance controller.Thus,an assisting force will be supplied by the robot when the impaired limb fails to reach the target.On the contrary,an adaptive resistive force will be applied to the impaired limb to achieve muscle power training.Experimental results demonstrate the effectiveness of the proposed control strategy.