A support structure (30,31,36,40) supports a powered lifting means (53) for lifting a patient from a wheelchair a treadmill (140). A control panel (42) with a mirror (44) thereon is supported at one end of the support structure (30,31,36,40), and a touch screen data entry/display device (46) is supported by the panel (42). Two similar housings (160) each pivotally supports a support arm (195). Each support arm (195) pivotally supports a first depending arm (276), and a second depending arm (332) is pivotally supported therefrom. A pair of servo motors (200,210) are connected to the first and second depending arms to independently move the depending arms about pivot axes thereof. A first attachment cuff (320) is conneceted to the first depending arm for attachment to a patient's thigh. A second attachment cuff (362) is conneceted to the second depending arm for attachment to a patient's ankle. The support arms (276,332) are vertically adjustable, and the attachment cuffs (320,362) are horizontally adjustable. The first attachment cuff (320) is vertically adjustable, and the second attachment cuff (362) floats vertically realtive to its depending arm (332). Controlmeans (400) is connected to the drive means (150) for the treadmill and the servo motors (220,210) which move the depending arms to cause the treadmill and the depending arms to operate in a coordinated manner to cause the legs of the patient to move in a desired gait. Sensor means (384,386) is also provided for sensing the home position as well as possible over-travel of the knee joint.
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