Inclusion Criteria:  At least 6 months after the onset of stroke Have sufficient cognition to follow simple instructions, as well as understand the content and purpose of the experiment (Mini-Mental State Examination (MMSE) score >21). Have mild-to-moderate motor impairment in the affected lower limb with foot drop but be capable of standing and walking without manual assistance. Fugl-Meyer Assessment (FMA), total score on the lower limb <20 Functional Ambulatory Category (FAC) ≥4 Berg Balance Scale (BBS) ≥40  Exclusion Criteria:  The exclusion criteria will be server spasticity at the ankle joint measured by Modified Ashworth Score (MAS) >3. Receiving other lower limb rehabilitative interventions at the same time