Investigators aimed to examine the effectiveness of robotic exoskeleton-assisted gait training in stroke rehabilitation, and to determine predicting factors of significant improvements in post-stroke patients. Investigators hypothesized that robotic assisted gait training brings better strength recovery and functional improvement.

Inclusion Criteria:

• patients aged from 30 to 80 years
• hemiparesis due to ischemic or hemorrhagic stroke in the last 6 months

Exclusion Criteria:

• with a significant history of pain or injury of lower limbs that affected their walking ability,
• with cardiopulmonary diseases that prohibited exercise training
• with impaired cognitive function
• unable to complete the timed up-and-go test
• able to complete the timed up-and-go test in <20 seconds using walking device