It is known that mobility and disability problems tend to increase within the elderly population. Often when these problems arise, the elderly develop a need for a mobility assistive device. These assistive devices can be crutches, canes, or walkers. These devices are used to improve the patient’s balance, increase activity, increase the patient’s support base, and independence. These devices have significant aspects to them, but they also come with substantial musculoskeletal and metabolic demands. Patients with low stability, poor balance, and weakness in the lower extremities benefit significantly from because walkers primarily aim at improving stability, balance, and help support the lower extremities. It is known that patients that use assistive devices are reported to have improved confidence, lower depression, a heightened sense of safety which leads to higher levels of activity and more independence. This paper describes the development of a robotic walker that uses inertial measurement units to map the gait cycle of a patient that then utilizes that information to aid in the movement of the defected leg using a closed loop control system. The robotic system consists of a walker, a leg brace, a controller, gyroscopes for input, absolute encoders for feedback, a pneumatic linear actuator for the knee motion, and a DC servo motor for the ankle motion. The knee portion of the system is designed to be compliant and passive, meaning that the system does not force the movement of the patient’s leg. Instead, it nudges the patient's leg through the gait cycle. The ankle portion of the system is meant to allow the foot to go through the entire gait cycle including kickoff. However, the ankle portion also ensures that the toe does not drag on the floor during the gait cycle by moving the foot upward as the entire leg goes through the gait cycle.