Recent studies shown advantages of gait recovery with intervention using robotic technology for inpatient. However,limited amount of research has been conducted to apply assistance systems forgait rehabilitation in homes, which is a major issue for now. Therefore, the ultimate goal of the applicant is to develop ahome system for gait training with developed mechatronics system and Metaverse environments.In this year, the applicant's improved the ankle assistive system for post-stroke gait training. Meanwhile, the achievements of standing postural control training VR system for elderlies are presented and published in national and international academic conferences. The applicant would continue to proceed the construction of VR and MR system for gait rehabilitation, and verify whether adjusting the virtual elements could facilitate neural recovery in gait training.