Abstract: An omnidirectional rehabilitative training walker must track a patient's doctor-prescribed trajectory. The design scheme of a controller with velocity constraints is proposed based on the Backstepping compensation method while simultaneously considering the safety of the rehabilitees and their extensive motion velocity during training. The ultimate aim is to guarantee the safe training of the rehabilitees. The trajectory tracking under the safety velocity is realized by constraining the amplitude of the actual motion velocity. The real time compensation method of the trajectory tracking error and the velocity tracking error is presented. The asymptotic stability of the system about compensation error and tracking error is proved using the Lyapunov stability theory and the LaSalle invariance principle. The comparative analysis of the simulation results shows the feasibility and effectiveness of the designed scheme.