The invention relates to a device for outpatient rehabilitation (40) intended to accompany and secure a non-autonomous individual (12) being rehabilitated during his progression on the ground, formed of a mobile structure (11) for assisting said individual in the exercise of at least one movement of the step comprising a motorized carriage (41) and support means of said individual mounted on a gantry (15) mounted on the frame (141) of said motorized carriage (41), comprising a harness support member (43) adapted to grip at least a portion of the trunk of said individual (42), preferably a portion of pelvis and / or pelvic girdle of said individual (42). According to the invention, such a device comprises:at least one sensor for measuring the position and / or displacement of a portion of the trunk, for example of the bust or pelvis, or of an area of the lower part of the body of said individual (42)；an on-board real-time controller (17) capable of controlling the movement of said motorized carriage (41) in response to a movement of said individual (42) from the measurements provided by said sensor for measuring the position and / or the displacement of a portion of the trunk or area of the lower body of the individual.L'invention concerne dispositif de rééducation ambulatoire (40) destiné à accompagner et sécuriser un individu (12) non autonome en cours de rééducation lors de sa progression sur le sol, formé d'une structure mobile (11) d'assistance dudit individu dans l'exercice d'au moins un mouvement de la marche comprenant un chariot motorisé (41) et des moyens de soutien dudit individu montés sur un portique (15) monté sur le châssis (141) dudit chariot motorisé (41), comprenant un harnais de soutien (43) apte à enserrer au moins une portion du tronc dudit individu (42), de préférence une portion du bassin et/ou de la ceinture pelvienne dudit individu (42).Selon l'invention, un tel dispositif comprend :- au moins un capteur de mesure de la position et/ou d
