Upper body gait ergometer and gait trainer

A natural gait trainer comprising:

• a support frame;
• a first gait module suspended in the support frame, the first gait module comprising:
• an articulating leg support suspended from the support frame, the articulating leg support comprising:
• an upper arm rotatably connected at a proximal end to the support frame;
• a lower arm connected at a proximal end to a distal end of the upper arm by a first pivot joint;
• and,
• a foot support coupled to a distal end of the lower arm, wherein the first pivot joint is configured to align with a knee of a first leg of a user when the user is standing with a corresponding foot supported in the foot support;
• a rocker arm rotatably coupled to the lower arm and coupled to the support frame;
• and,
• a pivot arm rotatably coupled to the rocker arm and to a drive module,
• wherein the pivot arm, the rocker arm, and the support frame constrain rotation of a first longitudinal axis of the lower arm between a first angle and a second angle, the first angle and the second angle each being relative to a second longitudinal axis of the upper arm, such that, in a walk mode, the foot support and the first pivot joint guide the first leg of the user in a natural gait cycle while preventing overextension of the first knee.