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Motor rehabilitation for stroke patients is a process of relearning of motor programs that are either damaged or destroyed in the brain.Repeating of motor programs can be facilitated by external assistance provided to the neuromuscular system.Motor training in patients with an induced movement that mimics normal motor activities can be benefit recovery of motor functions.Furthermore, functional electrical stimulation (FES) has been proven to be effective for motor rehabilitation.We are using computational methods to understand neural control of movement in normal human, and are developing a hybrid FES robotic device to perform training of stroke patients.Normal patterns of neuromuscular activation during movement will be translated into control strategy for FES robotics.This presentation wilt review our recent work in stimulation of neural control and in the development of the hybrid FES robotic system.