A foot sole stimulation device includes a plate with stimulators on a top surface of the plate and arranged in a specific form. The stimulators are solid semi-circular balls with radius of 1.5 mm to 2.5 mm and arranged in a square matrix. A distance between the centers of adjacent rows and columns of the stimulators is 7 mm to 11 mm, and a distance between the closest peripheries of adjacent rows and columns of the stimulators is 4 mm to 6 mm. The device can be made as shoe soles, shoes or socks so as to provide gradual stimulation to the user who has problems of sense of balance. When users step on the stimulators, they compress and stimulate the skin to improve the ability of receptors in the sole of foot to detect change in different levels of mechanical stimulation. The device provides extra sensational information and information of the load allocations during standing, walking or turning so as to increase the ability of balance.