Abstract: A device for improving range of motion of a hip joint, includes: a base; a lower trunk support system; a leg fixing assembly connected to the base; and a target leg motion assembly connected to the base, including: a target leg holding assembly configured to hold an upper portion of a target leg of a user; a lower leg holding assembly configured to hold a lower portion of the target leg of a user, and at least one of: a flexion system configured to selectively move the target let holding assembly in an arc about a first axis; a coronal rotation system configured to selectively move the target leg holding system in an arc about a second axis; and a transverse rotation system configured to selectively move the lower leg holding system in an arc about a third axis.