|Recently, the interest in the lower-limb exoskeleton robot is increasing within rehabilitation practice. While research on advancing the gait rehabilitation exoskeleton robot (ER) is being actively conducted from a technical point of view, studies evaluating usability and user value of ERs are insufficient. In this study, an evaluation tool was developed and verified, and an evaluation of an ER-based rehabilitation training program was conducted using the evaluation tool. A total of 102 rehabilitation patients (51 using ER and 51 under the existing training program [ETP] without robots) and 38 therapists participated in this experiment. The ER used in this study was Exowalk (HR-02, HMH Co. Ltd, South Korea). As a result of the study, the usability of the ERs consists of trust and overall satisfaction. The patient group using the ER showed statistically higher trust and overall satisfaction scores than the patient group with the ETP. On the other hand, the user value of the ER includes self-direction and security. The self-direction score of the patients using the ER was significantly higher than that of the patients with the ETP, but the security score showed the opposite tendency. This study is unique in that measures were developed to evaluate the usability and user value of the gait rehabilitation ER, especially for the Exowalk, verified by various user groups, and statistically analyzed to be used as a reference for the design of usability and user value in other gait rehabilitation ERs.