In recent year, Technical assistance to functional rehabilitation device has attracted great interest. Many kind of rehabilitation device have been designed and implemen-tation by varied control theorem. In this study, we introduce an adaptive Tak-agi-Sugeno cerebellar model articulation control (T-S CMAC) for tracking control of lower-limb rehabilitation system. The proposed control structure is based on two parts. The first part is trajectory generator, and second part is T-S CMAC controller. In the simulation results, the tracking performance can be proved.