Kirk thanked his doctors at the Rehabilitation Institute of Chicago for their help in recovering over the last nine weeks.
Kirk says he walks an average of 3,677 steps per day, a total of 14.79 miles, over ground and on the treadmill, and up 145 flights of stairs.
"As I move into a new phase of outpatient rehabilitation for occupational and physical therapy, I will continue to work hard in order to further regain my strength," Kirk said in a statement. "Every day is a challenge but I am committed to providing you with updates on my rehabilitation and my work on behalf of Illinois in the United States Senate."
Kirk suffered a stroke at age 52 in January.