Present monograph core is development of a position/force and bio-technical control for restorative medicine robots. These investigations are carried out in the "Robotics" laboratory of Moscow State Industrial University in collaboration with medical organizations. The models of contact with the soft tissues of humans and these models limitations are considered. Method of position-force control with force training and a series of algorithms that implement this method are proposed. For bio-technical robot control the physiological patient’s parameters are taken into account. Nondeterministic researches are performed with fuzzy logic and random processes use. Some aspects of the design of robots for restorative medicine, problems of reliability, safety, ergonomics are considered.