This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This routine is commonly used to rehabilitate an injury on an Anterior Cruciate Ligament (ACL)... https://www.fitnessgravesyardes.shop/product-category/a-c-adaptor/