Teleoperated robotic systems provide surgeons with precise control, reduced fatigue, and remote access to patients but have yet to break out meaningfully in gait rehabilitation despite their potential to offload the extremely taxing nature of skilled, hands-on assistance during gait training. One way to provide teleoperated rehabilitation is with coupled exoskeletons worn by patient and therapist, but this may still demand significant therapist effort and does not mimic their typical hands-on assistive strategies. Instead, end-effector robotic arms can be teleoperated with a small manipulandum at a desk to provide remote gait training assistance at an attachment point on the patient’s leg. This allows specific, targeted movements and interactions that are more congruent with therapists’ dexterity in applying forces with their hands. Here, we explore gait training with a teleoperated robotic arm by showcasing our approach and discussing the implications of augmenting therapist manipulative capabilities with end effector robotics.