Known for the high incidence of disabilities caused by post-traumatic joint disorders of the lower limbs, this book aims a rigorous theoretical and experimental study on the possibility of accelerated recovery of patients by means of high-performance rehabilitation equipment operated by pneumatic muscles. Given the fact that the studies carried out so far in the field of physiotherapy are mainly dedicated to continuous passive motion rehabilitation equipment driven by electric motors, this paper aims to contribute, through theoretical and experimental research, to the design of a new type of rehabilitation system, operated with pneumatic muscles.