This reminds me of a nice harness device that I saw for the first time at an "Abilities Expo" when I was working a medical standby shift at the San Jose Convention Center a few years ago. I saw a demo of a harness similar to the one below that let parents help their disabled kids to "walk" with them. Seeing the parents at the expo try it out with their kids was truly amazing, and really choked me up.
There were other very nice things at the show, including some nice touches by the Convention Center staff. The pictures of mine below show a nice artificial grass area set up in a corner of the hall for all of the service dogs who were in attendance, as well as a bathroom that had been temporarily converted into a "Family Bathroom" since some of the folks were there with helpers of the opposite sex.