In this paper, design and control of a rotary series elastic actuator (RSEA) in human rehabilitation are considered. Actuators consist of some parameters that should be determined. Here genetic algorithm (GA) is used for optimally design the actuator parameters for tracking human joint angle and a new robust hybrid adaptive sliding mode control method for its control is presented. Also the actuators have some uncertainties in their parameters and modeling. Recently, safety is a major consideration so makes difficulties against of output torque control. A new robust hybrid adaptive and sliding mode controller (ASMC) in order to compensate these uncertainties is proposed. The proposed methodology in this paper tries to simulate the real conditions by considering uncertainties in both parameters and modeling. Simulation\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\'s results specially have shown significant improvements in tracking human joint by motor comparison with the other design.

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