A walk training apparatus (1) comprises a main frame (10) a rolling assembly (4), allowing the main frame to perform omnidirectional rolling movements over a floor during walking of a person (11) a drive unit (5) for driving the rolling assembly a sensor (6) for detecting relative translational and/or rotational movement and/or relative force and/or torque exertion between a body reference part (12) of the persons body and a frame reference part (2, 3) of the main frame a calculator (7) for calculating drive control parameters based on detection results from the sensor and a controller (8) for controlling the drive unit based on the calculated drive control parameters.
