Abstract Background : Functional electrical stimulation (FES) is a modality of motor rehabilitation that consists of the programmed application of bursts of electrical current to the a ected neuromuscular region that aims to improve muscle strength, increase the range of motion, facilitate movement control and decrease spasticity. The present study aimed to measure the changes in gait biomechanics of people with Stroke after a FES-cycling rehabilitation program for the lower extremities. Methods : 39 subjects with chronic stroke received 24 sessions of multi-channel FES synchronized with a cycle-ergometer for the lower extremities. The gait of all subjects was evaluated before and after the intervention by an instrumented gait analysis. Results : Signifcant changes were found in the spatio-temporal parameters of gait, mainly in the speed and stride length when considering the general sample. Additionally, in people under 60 years of age, there are signi cant changes in joint kinematics after FES. Conclusions : The rehabilitation using a multi-channel FES-cycling system for lower extremities improve gait biomechanics in people with Stroke. Trial registration : This study was registered as Instrumental Gait Analysis on People With Stroke After Rehabilitation With a Synchronized FES and Cycle-Ergometer System on July 16, 2020 in Clinical Trials with the identier No NCT04473391 (available at https://clinicaltrials.gov/ct2/show/NCT04473391).