1. More than 2 million stroke patients nationwide every year. There are more than 10,000 secondary and tertiary hospitals, more than 80,000 community and township hospitals in china. Stroke rehabilitation training equipment needs more than 100,000 units. 2. The existing lower limb rehabilitation equipment in the hospital is mainly the traditional simple passive training equipment. 3. This equipment adopts machine learning, monitoring of patient intent and personalized rehabilitation plan, solving the shortage of clinical therapists and unstable technique treatment effect ，