Abstract: In order to solve the uncertainty problem caused by different rehabilitee mass and the center of gravity shift, affecting the tracking precision of the rehabilitative training walker in accordance with the doctor prescribe training programs, a filter was designed to estimate the uncertainty and improve the robust performance of control system. Considering the sudden shift of motion velocity and acceleration during training, a new method was proposed for the control system design to restrain the uncertainty and restrict the velocity and acceleration simultaneously. The constraint condition of velocity and acceleration was established in Lyapunov stability,validating the asymptotic stability of the tracking error system, and obtaining the solution method for parameter matrices. Comparing the simulation and experiment results, it is showed that the motion velocity and acceleration of the rehabilitative training walker can be constrained simultaneously. The results validate the effectiveness and advantage of the proposed design method for control system.