Purpose: This study investigates the effect of 60° semi-squat exercises according to three different types of support surfaces. The effects were examined on joint position sense and balancing ability using stable and unstable surfaces in patients afflicted with post-stroke hemiplegia. Methods: Subjects were instructed to perform three sets of 60° semi-squat exercises according to the characteristics of the support surface conditions. The three ground states were bilateral stable surface (BSS), nonaffected side unstable surface (NUS), and bilateral unstable surface (BUS). The joint position sense, characteristics of body sway, and dynamic balance were analyzed according to floor conditions before and after the experiment. A balance-pad (50 cm W × 41 cm L × 6 cm H; Alcan Airex AG, Sins, Switzerland) was used for the unstable floor. Results: The 60° semi-squat exercises applied to hemiplegic patients showed the highest statistical significance in joint position sense in the NUS group, and Timed Up and Go test (TUG) in the BUS group (p < 0.05). Conclusion Functional training using an unstable surface can be applied as a meaningful intervention method for improving the balance and joint position sense of stroke patients.