Due to the diverse kinds of uncertainties and disturbances found in rehabilitation robots, this chapter is devoted to evince diverse kinds of impedance controllers for these kinds of mechanisms. Impedance controllers consist in considering diverse kinds of environments in which the rehabilitation robot operates. These kinds of environments disturbances are generally found in the forces and torques that the patients generate for diverse kinds of mechanisms. The first step to design these kinds of mechanisms is to design a “mechanical circuit” (similar to an electrical circuit) with the equivalent circuit elements like inertia, mass, stiffness coefficient, etc. Then, as seen later, the equivalent Thevenin or Norton equivalent circuits are designed taking into consideration if the circuit is inertial, capacitive, or resistive. In this chapter, two numerical examples are shown, implementing the respective impedance controller. The first numerical example consists of the design of an impedance controller for a five bar linkage, and the second numerical example consists in designing an appropriated controller for a gait robot. Exercise to be solved appears at the end of the chapter.