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Purpose The purpose of this paper is to design a lower limb exoskeleton to enhance hemiplegic patient’s muscle strength and help the affected side return to normal gait after a long period of training. Design/methodology/approach A wire rope-driven exoskeleton that combines rigid bracket and flexible driven method was presented to assist the patients with rehabilitative walking training. By using three noncontact cameras, the patient’s gait was captured and the target trajectory of the affected side was analyzed. Meanwhile, a controlling strategy of the affected side, which mimics the gait of the healthy side, was developed to help hemiplegic patients with varying degrees of hemiplegic gait obtain personalized walking rehabilitation training. Findings The results show that the hemiplegic gait of hip excessive abduction and strephenopodia was prevented. After wearing the exoskeleton, the movement trajectories of both sides of the lower limb were approximately identical. Based on the controlling strategy, the exoskeleton can correct the impaired gait and provide assistance for patients during walking. The exoskeleton has great benefits in walking rehabilitation training for hemiplegic patients. Originality/value This work improves the efficiency of the patient’s individualized training in the room. The presented exoskeleton provides great benefits in walking rehabilitation training for hemiplegic patients.