The present invention discloses locomotion simulator comprising a base having a surface movable along a base axis, a post mounted to the base a pelvic structure and a hip-thigh mechanism wherein coordinated displacement of the pelvic structure and pivoting of the thigh segment assembly simulates patterns of locomotion. The pelvic structure includes a first support movably mounted to the post, the first support allowing a displacement of the pelvic structure along a first pelvic axis generally perpendicular to the base axis and a second support movably mounted to the first support, the second support allowing a displacement of the pelvic structure along a second pelvic axis generally parallel to the base axis. As for the hip-thigh mechanism, it is mounted to the second support and includes a hip joint having a pivot axis generally perpendicular to the displacement of the second support and a thigh segment assembly pivotally so connected to the hip joint as to pivot in a plan defined by the first and second pelvic axes.