In this book chapter is evinced the theoretical and experimental results regarding the adaptive control of rehabilitation robotics. In the first subsections it is explained the basics of adaptive control for different kinds of robots and mechanical systems. Meanwhile in the second part of this chapter is evinced three adaptive control strategies for rehabilitation robotics. These strategies are based on proportional-integral-derivative, sliding mode control, and backstepping adaptive control strategies. So in this way, it will be covered the main theoretical background for the adaptive control of rehabilitation robots. The ALICE robotics mechanism will be analyzed in this chapter in order to verify the stability and error convergence to zero in finite time for trajectory tracking purposes. The Lyapunov theorem is crucial to design these adaptive controllers, in order to meet the previous mentioned closed loop system requirements.