A rehabilitation system for rehabilitation of a subject comprising at least one end- effector for interacting with the subject, the said 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 comprising at least two initial coefficients and a session comprising at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector； and a controlling unit for controlling the actuator； wherein the memory is connected to the controlling unit for delivering the initial coefficients and the session, the sensors are connected to the controlling unit for delivering measurement signals, and the controlling unit is adapted to provide a force-controlled feedback based on the said initial coefficients.
