A lower limb rehabilitation device designed for stroke patients with a collection of sensors for the hip joint, an intelligent interactive system, and a hip joint and bottom-driven rotation system. The hip joint can be used as the central point of the axis of rotation of the trunk and lower limbs, and has always played the role of leading movement and connecting the preceding and the following. Its stability plays an extremely important role in restoring walking stability, and the device exercises the stability of the hip joint by twisting during travel, thereby improving walking stability.