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Background: Stroke patients commonly experience functional declines in balance and gait due to decreased muscle strength and coordination issues caused by brain damage. Through repetitive training, robot-assisted gait training (RAGT) can aid in promoting neuroplasticity in stroke patients and help them acquire effective gait patterns. Additionally, convalescent rehabilitation hospitals help to ensure rapid recovery through intensive rehabilitation training. Objects: This study investigated the effects of RAGT frequency on gait and balance recovery in stroke patients in convalescent rehabilitation hospitals, providing data to optimize rehabilitation efficiency, enhance functional recovery, and support the development of personalized strategies to ensure safer and more rapid returns to daily life. Methods: This study compared the frequency of RAGT by analyzing a group receiving two units of RAGT per day for 5 days per week with a group receiving two units of RAGT per week as part of a comprehensive rehabilitation program, totaling 16 units daily, in a convalescent rehabilitation hospital. Results: In the 10-minute walking test, statistical significance was observed both within and between groups, whereas the Functional Ambulation Category, Fugl-Meyer Assessment–lower extremities, Berg Balance Scale, and timed up-and-go tests showed significance only within groups. Conclusion: End-effector RAGT and traditional gait training significantly improve gait ability, balance, and lower limb function in stroke patients.