This study tests a new **Functional Electrical Stimulation (FES)** system for improving walking after a stroke. FES uses electrical signals to help weak muscles move, especially if you have footdrop, which makes it hard to lift your foot while walking. The new system adjusts the strength of these signals to avoid muscle fatigue and improve walking.

Researchers will use a special model called a **Model-Predictive Controller (MPC)**. This model, along with feedback from ultrasound images, helps deliver the right amount of stimulation for each step. This method aims to reduce fatigue and improve muscle performance.

• The study requires participants to walk 10 meters with or without help.
• Participants should have had a stroke over 6 months ago.
• Participants must be able to walk on a treadmill without an ankle brace.

Participants should not have certain health issues like dizziness, loss of feeling in the leg, or other neurological diagnoses. The study could help improve walking ability post-stroke, but make sure to check with the researchers if you have any questions about eligibility.