In order to accurately identify the directional intention of lower limb functional disorder patients, a novel walking directional intention identification strategy is proposed considering individual differences and safety. Firstly, the structure of rehabilitation robot and the relationship between the pressure of the forearm and the directional intention are introduced. To ensure the patient to walk safely in any directions, a distancetype fuzzy reasoning algorithm with sparse antecedents is adopted under the prerequisite for reasoning about safe gait through rotation angle of knees. Then, to reduce the identification errors caused by individual differences and nonstable fuzzy rules, this paper proposes a rule evolutionary strategy, which can update the fuzzy inference rules. Finally, the algorithm is applied to multiobjective fuzzy reasoning experiments and pressure control experiments of walking rehabilitation robot, which prove that the algorithm can accurately identify arbitrary directional intention of patients and increase walk safety. This strategy of directional intention identification can be used in the rehabilitation of lower limb dysfunction in daily living and rehabilitation training.