Walking ability can be lost due to several neurological diseases. In this paper, we are interested in the rehabilitation of pediatric patients. For this purpose, an extended L 1 adaptive control has been proposed to control 2 DOF lower limbs exoskele-tons used to rehabilitate kids suffering from Cerebral Palsy (CP). Two methods based on PID controllers have been combined with L 1 adaptive control in order to ensure the limb movement along a predefined trajectory. Then, a comparison study has been established based on tracking errors. Moreover, to improve the robustness of these controllers against uncertainties , several tests with the variations of children masses and lengths have been carried out, with the presence of torque limits using fuzzy logic.