In this report, review our study results about the walking rehabilitation by our research group in KOCHI. We have developed walking training machine of three types since 2000. These walking training machines were developed based on the new concept called Omni-directional movement. Omni-directional Walker called ARUKING is commercialized from 2008 by SOAI Co., Ltd.. At the presentation, in the process of the research and development, social background, new idea, results of experiment and clinical test will be introduced in detail.