The introduction of impedance control in 1985 by Neville Hogan paved the way for a safe, gentle and effective interaction between humans and machines. This interaction is ideal for rehabilitation and is epitomized in the design of manipulanda that pioneered clinical and neurological applications, the most prominent being the MIT-MANUS, developed by Hermano Igo Krebs. Following this line of research, we have recently introduced the MIT's pediatric Anklebot, an adaptive robotic device that provides an “assist-as-needed” therapy and targets ankle movements in children with neurological disorders (Michmizos et al. 2015). Since 2012, the rehabilitation robot has been used successfully in pilot studies in Pediatric Hospitals in the USA and Europe.