Abstract: A fuzzy adaptive closed-loop supervisory control method for passive movement of joints is presented to solve the problem that the joint range of motion(ROM) and motion control parameters can not be regulated in real time according to the impaired limb's physical condition in robot-assisted impaired limb passive rehabilitation training.Firstly,a high-level supervisory controller is designed based on the impaired limb's joint motion recovery condition,and the desired ROM in agreement with the impaired limb's physical circumstances is obtained;then,a low-level closed-loop position tracking controller is proposed to control the robot to stably and smoothly stretch the impaired limb to move along the predefined trajectory.Finally,clinical experiment results verify the effectiveness of the proposed control strategy.