A master’s thesis by student Dina Iyad Abdel-Jabbar was discussed in the College of Engineering, University of Basra, Department of Computer Engineering, entitled Designing a soft robot to rehabilitate the exoskeleton of the lower limbs based on pneumatic limb actuators. It included: the message . Building and designing a smooth pneumatic muscle that has the ability to bend, contract and stretch. This muscle has the ability to work and bend in different directions, allowing it to bend and contract, and it also has the ability to generate force. The behavior and performance of these muscles are tested to enhance and determine the curvature and strength of the pneumatic muscle. These bent and extended muscles have been used to design a soft robot for leg rehabilitation, especially in the area of ​​the knee joint and its muscles, for patients after a stroke or accident and a leg problem. This robot performs soft exercises and physical therapy for the knee joint. A soft robot based on pneumatic muscle contraction was also designed and created to rehabilitate the ankle joint in the foot. It is characterized by performing flexibility exercises in the four directions of the joint and rehabilitating it. The operation of these robots is controlled using an effective and efficient control system that uses a parallel neural network (NN) architecture and a proportional P controller (PNNP controller).