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Clinical outcomes have shown that robot-assisted rehabilitation is potential of enhancing quantification of therapeutic process for patients with stroke. During robotic rehabilitation exercise, the assistive robot must guarantee subject's safety in emergency situations, e.g., sudden spasm or twitch, abruptly severe tremor, etc. This paper presents a hierarchical control strategy, which is proposed to improve the safety and robustness of the rehabilitation system. The proposed hierarchicaldoi:10.1017/s0263574713000052 fatcat:kdzw5rkf4zdzzptavkmqdspow4