R-BoT Plus is a robot-assisted rehabilitation system to facilitate recovery of lower extremities through re-learning of lower extremities' movements and intensive sensory exercise stimulation for walking training to the patients with severe central nervous system damage such as stroke, spinal cord injury (SCI), traumatic brain injury (TBI), Parkinson's disease, and multiple sclerosis (MS). It is a device that allows the patients to continuously perform lower limb exercise while maintaining a lying or standing state, and is operated by a BLDC motor and a touch screen scroll control method. Customized treatment for each patient such as speed, stride length, and inclination according to his condition is possible. Functional Electrical Stimulation (FES) helps to alleviate physical disability and improve motor function.