Robot assisted therapy is a rapidly growing field of rehabilitation. The MotionMaker™ is a new type of a stationary test and training system for the lower limbs combining two motorised hip-knee-ankle-foot orthoses equipped with position and torque sensors and Functional Electrical Stimulation (FES). It's central control unit allows to perform perfectly guided and controlled movements. The FES is continuously adapted to produce exactly the programmed movement, thus mimicking natural exercise very closely. The effect of a training using the MotionMaker™ on motor performance was studied in spinal cord injured (SCI) patients.