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This paper analyzes the machinery and motion control system of the mobile lower limbs rehabilitative robot. This paper presents a robust control design for a drive system of lower limbs rehabilitative robot. An adaptive decoupling controller is designed to drive the wheels speed to extract accurate speed of the robot and to allow omni-directional regulation. This system controls the DC motor by embedded system PC/104 to drive four wheels of the robot. The simulations show the robustness of the controlled system. Using adaptive controller to instead of traditional PID controller could get better control effect, also improve the dynamic performance, especially on rapidity and anti-disturbance.