Stroke survivors commonly suffer from sensory and motor deficits, leading to difficulties in re-engaging in daily life. To address this issue, we have designed and developed a novel wearable sensorimotor training system, to provide an affordable, easy-to-access rehabilitation solution for stroke survivors. The system can detect the lower-limb position and motion in real-time, analyze the stroke survivors’ rehabilitative exercising performance, and provide individualized auditory reminders to users via a smartphone APP. The positive preliminary results supported that, this smart wearable system can assist stroke survivors’ daily physical exercise training and improve their lower-limb sensorimotor function immediately and in the long term.