We are currently examining the therapeutic efficacy of the pediAnklebot, an impedance-controlled low-friction, back-drivable robotic device that trains the ankle of neurologically impaired children of ages 6–10 years old. In this paper, we present the first clinical results from a small feasibility study involving 4 children with Cerebral Palsy. The children used the pediAnklebot in seated position to train their ankle twice per week for a total of 6 weeks (12 sessions). The initial results indicate an improvement of the ankle's functions including its pointing abilities and gait speed. The observed clinical outcome reinforces our confidence that the pediAnklebot, driven by our adaptive, assist-as-needed, robotic therapy can harness plasticity to guide habilitation during childhood.