The motivation for this project is to enhance the rehabilitation process for patients who have lost the ability to walk. The fact of having walking disabilities and not being able to perform their daily activities can affect the life quality of a person. The purpose of the device is to help people with walking disabilities have a productive and enjoyable gait rehabilitation process. The device is expected to be the first walking training device in the market that accurately recreates human gait path motion of the knee and the ankle at the same time. It also incorporates a virtual reality system in order to motivate the patient to complete the rehabilitation process. Virtual reality integration with walking rehab has proven an increased final walking speed.