At the core of the C-Mill is a motorized treadmill which an integrated force plate. While the patient is standing or walking on the treadmill, the centre of pressure is calculated from the force plate data, from which weight distribution and timing and positioning of feet placement can be extracted. This is used as input for balance and gait assessment and interactive games using the front screen or belt projection. The games provide a challenging, motivating, and variable way to train weight shifting, gait, and gait adaptability. The safety frame and harness ensure safety of the patient while training challenging everyday tasks.