A robotic gait rehabilitation (RGR) training system is provided to address secondary gait deviations such as hip-hiking. An actuation assembly follows the natural motions of a users pelvis, while applying corrective moments to pelvic obliquity. A human-robot interface (HRI), in the form of a lower body exoskeleton, is provided to improve the transfer of corrective moments to the pelvis. The system includes an impedance control system incorporating backdrivability that is able to modulate the forces applied onto the body depending on the patients efforts. Various protocols for use of the system are provided.
