The Football Association of Wales confirmed that Rubery will remain in his position as Craig Bellamy’s assistant in the Wales national team.
Walters added: “Welcoming two highly caliber, innovative and progressive minded Assistant Directors, Paul and James, is another important part of how we will strive to progress and grow.”
Robins led the Sky Blues to promotion from League Two and League One and reached the Championship play-off final in 2023 before losing to Luton on penalties.
They failed to match that last season, but did lead Manchester United, where Robins began his playing career, to penalties in the FA Cup semi-final.
He has also had spells as coach of Rotherham, Barnsley, Scunthorpe and Huddersfield.
Stoke started the season under the leadership of Steven Schumacher, but they sacked him in August to appoint Bellach, the former Huddersfield and Norwich coach.
However, they won just three of his 19 matches, and the 36-year-old was sacked on 27 December following a 2-0 home defeat to Leeds, extending their winless run to nine matches and leaving them in 18th place. In the tournament.
Robins is now the club’s seventh managerial appointment since his 10-year spell in the Premier League ended in May 2018.
They have yet to finish outside the top six in the Championship since their relegation.
Stoke chairman John Coates said: “With the track record that Mark brings to the role, I think this is a really exciting moment for Stoke City.”
He added: “The recent win over Sunderland, with the way the team competed on the pitch and communicated with the fans, gave everyone a big boost and provided a glimpse of what can be created at our club.”