Stroke is a severe chronic disease that seriously threatens human health, placing an increasing burden on patients and families. Due to limited rehabilitation medical equipment and therapist, the majority of stroke patients, especially those in the post-acute phase, need long-term self-rehabilitation at home. Traditional homebased rehabilitation training methods are single-minded, providing insufficient sensory stimulation for patients, resulting in unsustainable exercise outcomes. Based on the above, this paper focuses on the design and research of a home-based rehabilitation training system and equipment for lower limb impairment patients, considering two design factors: virtual reality collaborative interaction and multisensory feedback. Firstly, we analyze the rehabilitation movements and rehabilitation needs of lower limb impairment patients. Secondly, we conduct research on the design of a virtual reality collaborative software and hardware rehabilitation interaction system. Thirdly, we complete the design and development of rehabilitation game software based on Unity. Fourthly, we develop rehabilitation wearable hardware equipment that incorporates motion recognition, multisensory feedback, and data synchronization software using sensor technology. The system meets the multi-stage rehabilitation training needs in a home setting. It can be used in conjunction with lower limb rehabilitation exoskeletons during the early stages of rehabilitation and can also be used independently during the middle and late stages of rehabilitation. This enhances the interactive immersion of training, and improves the motivation for rehabilitation.