A rehabilitation system for rehabilitation of a subject including at least one end-effector for interacting with the subject, the end-effector having at least two degrees of freedom of motion, at least one actuator for actuating the at least one end-effector, at least one sensor for measuring at least the position and the speed of the at least one end-effector； at least one sensor for measuring the interaction force between the subject and the end-effector； a memory including at least two initial coefficients and a session including at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector； and an actuator controlling unit. The memory delivers the initial coefficients and the session, the sensors deliver measurement signals to the controlling unit, and the controlling unit provides a force-controlled feedback based on the initial coefficients.
