In this chapter, four adaptive controllers have been proposed to control a 2-DOF exoskeleton dedicated to kids’ rehabilitation. These control laws are implemented at the hip and the knee joints. In fact, tracking the gait scheme with an intense and precise work may allow children to increase their brain plasticity. Through the proposed study, it is shown that the augmented L1 adaptive controller is robust regards to parametric variations. Besides, to validate this controller, different scenarios and simulations were carried out to prove its effectiveness.