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With the booming development of rehabilitation medicine engineering in recent years, the role of lower limb exoskeletal robotic systems in the treatment of walking function recovery of post⁃stroke has received much attention. This paper intends to classify and summarize the lower limb exoskeletal robotic systems used for walking function recovery at different periods of stroke, summarize the mechanism of improving walking function, and review the impact of lower limb exoskeletal robotic systems on the walking function of stroke patients at different periods, current challenges and future development direction, in order to promote the clinical application of lower limb exoskeletal robotic systems.