To achieve “ecological” robotic rehabilitation therapy, the present invention provides the system capacity of training of patients in different ambulatory tasks utilizing motorized footplates that guide the lower limbs according to human gait trajectories generated for different ambulatory tasks of interest. A lower extremity robotic rehabilitation system comprises an active pelvic/hip device which applies series elastic actuation to achieve an intrinsically safe and desirable impedance control. A robotic unit features the telepresence operation control that allows a patient stay at home or nursing home to continue his or her rehabilitation training under a physicians remote supervision and monitoring. The robot unit utilizes an affective patient-robot interface to capture emotional information of the patient, to allow for real-time adaptation of the robotic system and adjustments of treatment protocol, and to enhance the quality and effectiveness of rehabilitation
