People living with neurological disorders frequently experience gait impairments that substantially reduce mobility, independence, and quality of life. This pilot study aimed to evaluate the feasibility, safety, and preliminary functional outcomes of integrating the EksoNR robotic exoskeleton (Ekso Bionics, San Rafael, CA, USA) into outpatient neurorehabilitation practice in individuals with chronic neurological impairments. Over an eight-month period, five participants with heterogeneous neurological conditions (two spinal cord injuries, one cerebellar ataxia, one ischemic stroke, and one spastic paraparesis) completed a four-week robotic gait training program consisting of 15 intervention sessions. Functional outcomes were assessed before and after the intervention using standardized clinical tests. Cardiovascular endurance was evaluated using the 6-Minute Walk Test (6MWT), while physical and psychological well-being were assessed with the Functional Independence Measure (FIM) and the Barthel Index, in addition to the WHO Quality of Life (WHOQOL) and EQ-5D-5L questionnaires. Mobility and balance were evaluated using the Timed Up and Go (TUG), Berg Balance Scale (BBS), Tinetti Performance-Oriented Mobility Assessment (POMA), and Walking Index for Spinal Cord Injury II (WISCI II), where applicable. In addition, device-recorded gait parameters, including step count, step length, walking distance, and walking duration, were analyzed. Significant improvements were observed in several device-derived gait parameters, including the number of steps performed with the exoskeleton (p < 0.001), step length (p = 0.003), walking distance (p = 0.002), and walking duration (p < 0.05). Significant improvements were also identified in balance performance (BBS: p = 0.006; Tinetti POMA: p = 0.001), cardiovascular endurance (6MWT: p = 0.017), and EQ-5D-5L scores (p = 0.038). Functional independence measures (FIM and BI), TUG performance, and WHOQOL domains did not demonstrate statistically significant changes. No serious adverse events or device-related injuries occurred during the intervention period. Due to the small and clinically heterogeneous sample, these findings should be interpreted as preliminary exploratory results. Nevertheless, the study supports the feasibility and potential clinical utility of EksoNR-assisted gait rehabilitation and provides a basis for larger controlled investigations.