We report a case of a patient with chronic stroke who improved his gait ability through weekly gait training using Gait Exercise Assist Robot (GEAR). A man in his 70s, who developed cerebral infarction 27 years ago, presented with right-sided hemiplegia. Before gait training, the patient's gait ability was assessed to be independent, but poor toe clearance was observed on the paralyzed side during the swing phase. Therefore, we started gait training using GEAR with the goal of improving his gait pattern. The patient underwent gait training using GEAR for 20 min/day, 1 day/week for 12 weeks, wherein the treadmill speed was increased as much as possible in order to improve the swing of the paralyzed lower limbs, and the visual and auditory feedback functions were also used to promote the load and swing of the paralyzed lower limbs. As a result, the overground gait velocity, Timed Up and Go Test, and 6-minute walking distance increased after 4 weeks. However, poor toe clearance was observed on the paralyzed side during the swing phase even after 12 weeks of the training. These results suggest that 4 weeks of gait training using GEAR (performed only 1 day/week) may effectively improve the gait ability of patients with chronic stroke. On the other hand, no improvement in gait pattern was observed, and further investigation is required in the future.