Falls are a major cause of injury among older adults and those with walking disabilities, highlighting the need for effective fall prevention strategies. Perturbation-based balance training (PBT) has been beneficial in enhancing balance recovery but often lacks effectiveness in real-world scenarios. To improve this, various training methods are necessary to develop responses to different fall-inducing situations, like trips and slips. This study evaluates the PACE-R (Passive Active CablE Robot) system, a modular robotic device designed to simulate various balance perturbations during treadmill walking. The PACE-R employs a cable mechanism that only engages the motor when needed, allowing for natural movement when no intervention is required. Kinematic data, such as joint angles and ground reaction forces, were analyzed during experiments to determine the system’s effectiveness in replicating realistic perturbations. Results from a case study showed that each type of perturbation produced unique responses, consistent with prior research. The findings indicate that the PACE-R could replace several training devices, making PBT more accessible and potentially lowering fall rates among individuals with balance issues, particularly the elderly. The device offers a safe and user-friendly approach to balance training by accommodating various fall scenarios.