The overall goal of the project is to develop a robotic gait trainer for walking rehabilitation which can be applied in clinical context. The focus of our group is the research on interactive sonic feedback in walking rehabilitation completely or partially supported by a robotic system. We are developing sonification tools that aid the design process through a set of experiments based on specific motor tasks guided by auditory feedback. Through a number of sensory-motor experiments we explore different motion-sound-coupling techniques and the role that auditory feedback plays in guiding patients motion.