In one embodiment a gait training system includes a patient interface adapted to attach to a patient's thigh, the patient interface defining a channel, a cord that passes through the channel of the patient interface, and connecting means attached to a first end of the cord for connecting the cord to the patient's forefoot, wherein pulling of the cord pulls the patient interface forward and upward to emulate hip flexion and simultaneously pulls the connecting means upward to emulate ankle dorsiflexion.