Inclusion Criteria:  Healthy adults aged 50 to less than 85 years without a history of central nervous system disease  Exclusion Criteria:  Those who have difficulty walking independently due to problems such as visual field defects or fractures Those with severe arthritis or orthopedic problems limiting passive range of motion (ROM) of the lower extremities (knee flexion contracture >10°, knee flexion ROM <90°, hip flexion contracture >25°, ankle plantar flexion contracture >15°) Those who have difficulty understanding the exercise program due to severe cognitive decline (Korean-Mini-Mental State Examination, K-MMSE≤10) Those who have difficulty participating in exercise programs due to adult diseases such as uncontrolled hypertension and diabetes Those who are at risk of falling while walking due to severe dizziness Those who are less than 140 cm or more than 185 cm in height that is not suitable size for the wearing of the walking assistance robot Those who are overweight based on body mass index (BMI) 35 or higher