In this work, a novel hybrid ankle-foot robot is designed for gait rehabilitation after stroke, i.e., exoneuromusculoskeleton with balance sensing feedback (ENMS-BSF) by integrating the advantages of soft pneumatic muscle, functional electrical stimulation, exoskeleton and foot balance feedback in one system. With the assistance of the ENMS-BSF the foot drop and foot inversion could be corrected with improved muscle coordination in the paretic lower limb. The device is wearable and light-in-weight for unilateral application during walking. It is hypothesized that with the intervention of the ENMS-BSF the gait pattern of persons after stroke can be improved with long-term rehabilitative effects.

Inclusion Criteria:

• At least 6 months after the onset of stroke
• Have sufficient cognition to follow simple instructions, as well as understand the content and purpose of the experiment (Mini-Mental State Examination (MMSE) score >21).
• Have mild-to-moderate motor impairment in the affected lower limb with foot drop but be capable of standing and walking without manual assistance.
• Fugl-Meyer Assessment (FMA), total score on the lower limb <20
• Functional Ambulatory Category (FAC) ≥4
• Berg Balance Scale (BBS) ≥40

Exclusion Criteria:

• The exclusion criteria will be server spasticity at the ankle joint measured by Modified Ashworth Score (MAS) >3.
• Receiving other lower limb rehabilitative interventions at the same time

According to the obtained ethical approval, all personal data of participants cannot be shared or released.