Study of the Robot-Assisted Gait Training using Biopotential Signals

INTERVENTION: HAL group: Emphasis is placed on the mode that senses signals from electrodes attached to the body and adjusts the amount of assistance. In the HAL group, a total of 10 HAL treatments will be performed over 4 weeks. Control group: A group that receives only conventional rehabilitation therapy. In the control group, a total of 10 conventional rehabilitation treatments are performed over 4 weeks. CONDITION: stroke ; Neurological diseases PRIMARY OUTCOME: Walking speed SECONDARY OUTCOME: 1)walking independence,; 2)locomotor function; 3)quality of life ; 4)endurance; 5)spatiotemporal parameters; 6)electromyography; 7)motor evoked potential; 8)resting brain activity INCLUSION CRITERIA: (1) 18 years old or older but under 90 years old (2) Ability to walk on their own or with assistance before onset (3) Patients who have obtained written consent from the patient or family about participation in this study