Abstarct: Nowadays, considering modern therapy methods and performing physiotherapy exercises, restoration of walking ability is possible for patients with impaired mobility in the lower limb. The more coincidence between these exercises and the daily movement activities (especially in terms of weight endurance), the greater physiological and psychological recuperation will be achieved. In this regard, some devices are designed to carry weight from up allowing the patients to maintain their balance throughout walking, sitting and getting up. In this thesis, a Body Weight Support (BWS) device with proposed mechanical balancing system has been designed for vertical displacement. In order to control the horizontal drive of the system, two controllers including LQR and an Ensemble controller were designed for two different approaches. Taking into account the criteria for each controller, optimization was performed. The mentioned system is also capable rehabilitation reporting the patient falling and stop the rehabilitation process. Due to complete system, a knee rehabilitation robot was also designed to be used alongside BWS system for people who are not able to bend their knee while gaiting. Finally, Electromyography (EMG) analysis and Foot Pressure tests were employed to verify the validity of the BWS system and the rehabilitation robot.