<p>This study introduces a developed control approach for an exoskeleton-type gait rehabilitation robot driven by a series elastic actuator (SEA). The development of the controller is based on a detailed and comprehensive dynamic model of the robot and its SEA, with attention to frictional forces and the presence of parametric uncertainties that affect performance. The proposed method uniquely integrates a type-2 fuzzy-logic-based impedance control law with a non-singular fast terminal sliding mode force tracking control to enhance precision and stability. Experiments with a SEA-driven hip joint rehabilitation robot in assistive force control mode evaluate the performance of the proposed control scheme. These experiments assessed performance metrics, demonstrating the developed controller’s efficiency in handling the complexities associated with dynamic interactions and force tracking. The experimental analysis affirms the effectiveness of the suggested approach, showing significant improvements in control accuracy compared to other relevant methods. This study’s findings highlight the proposed controller’s potential application to other rehabilitation and assistive devices employing SEAs.</p>