Abstarct: Stroke is one of the four leading causes of death and disability in the world, with more than fifteen million cases annually. Of these, one-third die and another one-third have permanent disabilities. It is projected to double in the next fifteen years, stroke causes more disability than any other factor, depending on the severity and location of the lesion, stroke survivors may develop physical or mental disability. With a prevalence of more than twenty percent among stroke survivors, foot-Drop is one of the disabilities that severely impair the movement of these individuals. stroke, cerebral palsy, MS, traumatic brain injury, and spinal cord injury are factors that can lead to foot-Drop. This condition is often caused by paralysis or muscle weakness of the dorsiflexor, and patients will not be able to move their toes. Because of muscle inactivity, compensatory mechanisms in other joints, such as the knee or hip, are used to correct the movement. A motion-correction device employing Functional Electrical Etimulation is often worn on the foot that includes electrodes that stimulate the peroneal nerve and allow for dorsiflexion motion where the claws approach the calf. The device detects the step-by-step phases of the foot pressure or accelerometer sensors and, when appropriate, instructs the muscle to be stimulated by a gait control system. In this study, the gait of people with a history of stroke who are involved in foot-Drop was analyzed in the kinetic analysis laboratories, and the results were compared with that of healthy subjects in the same position. The parameters that had to be changed to modify the gait pattern of these individuals were identified and a functional electrical stimulation circuit was designed. In the next step, by applying stimulation and recording the toe angle by an accelerometer, the inlet and outlet pairs were formed for the nonlinear muscle system identification. The result of this section served as the controller in the multi-input, single-output fuzzy control system as a model of muscle stimulation. Finally, practical conclusions and suggestions are mentioned at the end of this study.