Inclusion Criteria:  Age over 20 years old with first time stroke And affected lower limb Brunnstrom stage III-V Functional ambulation category VI Participants should be able to walk on flat surface without assistance for 6 minutes Mini-Mental State Examination (MMSE) should be over 25 and can comply to orders and cooperate with our study  Exclusion Criteria:  Severe central nervous system(CNS)/peripheral nervous system(PNS)neurological disorders apart from stroke Patients with high risk of falling down during walking Patients who cannot cooperate with testing Patients with severe visual/auditory/cognition deficits Patients with lower limb fracture within recent 6 months