Abstract: Aiming at the problem of poor follow-up effect of the rehabilitation robot arm in the rehabilitation teaching process, an admittance controller combining the torque differential term in the joint space is designed, and an improved variable admittance control strategy is designed in combination with the hyperbolic tangent function. The teaching simulation was carried out on the Adams and MATLAB/Simulink joint simulation platform, and a physical teaching experiment platform was built for verification. The results show that the variable admittance controller can better realize the teaching function, while reducing the trajectory following error and the size of the human-computer interaction torque, improving the follow-up effect, and the teaching repeatability.