Cybernet performed required analysis and engineering to develop a conceptual approach to a “whole-body kinesthetic display” to be used in dismounted soldier (Infantry) training. After determining key performance requirements, Cybernet evaluated a range of existing systems and theoretical design options in relation to the mass, energy requirement, safety, and functionality of each. Specific attention was devoted to technologies that simulate long-distance walking functions. Following selection of promising technologies, Cybernet developed a working VR model and performed numerous “strawman” designs to test each approach. The resulting recommended design is a foot-haptic approach that will maximize safety, energy conservation, and fidelity of the environment.