Mills, a United States Army staff sergeant survived the loss of all four limbs to an improvised explosive device in Afghanistan.
Stallone, 70, will direct and star opposite Driver, 33, in this big screen adaptation of Mills' memoir "Tough as They Come", reported the Entertainment Weekly.
The book details how Mills reclaimed his life after becoming one of only five soldiers from the Afghanistan and Iraq wars to survive a quadruple amputation.
Driver is to play Mills, and Stallone will play his steadfast father-in-law, Craig Buck.
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