The participants in the robot group received lower limb robot assisted walking training combined with routine rehabilitation therapy. Routine rehabilitation therapy includes lower limb muscle strength training, stretching training, joint range of motion training, balance training, walking training, and functional electrical stimulation.

Routine rehabilitation therapy includes lower limb muscle strength training, stretching training, joint range of motion training, balance training, walking training, and functional electrical stimulation.

The participants in the robot group received lower limb robot assisted walking training combined with routine rehabilitation therapy. Lower limb robot assisted walking training for 30 minutes each time, once a day, 5 times a week, for 4 consecutive weeks; Routine rehabilitation treatment includes lower limb muscle strength training, stretching training, joint range of motion training, balance training, walking training, functional electrical stimulation, etc. Routine rehabilitation treatment once a day, five times a week, for four consecutive weeks.

The Berg Balance Scale is a commonly used scale for evaluating balance ability in stroke Participants.Participants cooperate to complete the corresponding projects, and specialized assessors with professional knowledge in rehabilitation assessment will score based on the patient's completion status. The scale has a total of 14 items, including standing up from a sitting position, standing to sitting, standing independently, sitting independently, bed to wheelchair transfer, standing with eyes closed, standing with feet together, standing with upper limbs extended forward, standing with objects picked up from the ground, turning back to look, turning around for a week, alternating steps with both feet, standing with both feet in front of and behind, and standing with one leg. Each project has a maximum score of 4 and a ，minimum score of 0. The higher the score, the better the balance ability.

The functional ambulation category scale is a commonly used scale for evaluating walking ability, with ratings ranging from 0 to 5. The higher the level, the better the walking ability.

The scale assesses the presence or absence of reflexes in the participants' lower limbs, as well as the presence of hyperreflexia, flexor coordination, extensor coordination, activities accompanied by coordination, activities without coordination, and speed.The higher the score, the better the lower limb motor ability

The evaluators rated participants on items such as grooming, bathing, eating, toileting, dressing, bowel control, urination control, going up and down stairs, bed and chair transfer, and walking on level ground. The higher the score, the better the daily living ability.