Walking is affected by several neurological abnormalities. Current gait rehabilitation exoskeletons, despite potentially showing improvements, have not conclusively proven their functional superiority to conventional therapy. This paper presents the conceptual design of an ambulatory robotic training system comprised by a robotic exoskeleton coupled with an innovative robotic bodyweight support device with pelvis actuation. The objective of the device is to allow novel ways of delivering therapy, optimizing therapy challenge., and therefore promoting neural plasticity. Our device can provide movement freedom to the user to explore new movement patterns and to increase their voluntary motor control and active participation.