This paper presents an original rehabilitative robotic walking simulation device. As a novel feature, it can duplicate the walking motion of the feet completely by including the motion of the metatarsophalangeal joints as well. It is also adjustable to different foot sizes and gait parameters such as speed, step length, and foot elevation. The presented device comprises two identical mechanisms that simulate the right and left feet. Each mechanism is designed as a planar parallel manipulator with three degrees of freedom and thus its platform (i.e. foot plate) can duplicate the sagittal-plane motion of a foot completely. A prototype of the device is already built, patented, and tested by several people, two of whom are physiotherapists. In the paper, the inverse and forward kinematic analyses of each parallel manipulator are also presented. The inverse kinematic analysis is carried out based on a typical gait cycle data of a healthy person gathered from the related literature. The results of the inverse kinematic analysis are then used as reference trajectory data in testing the device with different healthy people at different speeds.