1. Preliminaries2. Stable PID Control and Systematic Tuning of PID Gains3. PID Control in Task Space4. PD Control with Neural Compensation 5. PID Control with Neural Compensation6. PD Control with Fuzzy Compensation7. PD Control with Sliding Mode Compensation8. PID Admittance Control in Task Space9. PID Admittance Control in Joint Space10. Robot Trajectory Generation in Joint Space11. Appendix - Design of Upper Limb Exoskeletons