A linear motion therapy device that has a single semi-enclosed worm-driven actuator (guide bar) with one end attached to a cantilevered and adjustable foot and heel support. The opposite end of the actuator is attached to a corset the person wears while in a supine position called a thoracic lumbar spine orthosis (TLSO). Next to the corset, but attached to the actuator is a motor, a height adjustment screw, and a stabilizer plate. A cord is attached to a push button hand control device for moving the foot support along the guide bar in a forward or reverse direction. Movement can be stopped at any time. A patient also wears a constraint that wraps around the thigh called a thigh support that attaches to the actuator with a pivotal and adjustable arm. This device can be adjusted to either leg.