 This paper proposes a novel mobile gate analysis and evaluation system based on a cane robot. It uses two laser range finders, LRFs, to acquire the leg motion data, and an effective high-dimensional Takagi Sejinokong, HTSK, fuzzy system is used to recognize the walking states. Additionally, a quantitative walking ability evaluation index is proposed in terms of the conventional TANETI scale. The proposed method achieves an average accuracy rate of 96.57% which is improved more than 10% compared with conventional TSK fuzzy system. Furthermore, the comparison between the evaluation results of the robot system and the scores given by the physician validates that the proposed method can effectively evaluate the walking ability. We are article.tv. Links in the description below.