This project, developed in collaboration with Kunming City Hospital, targets stroke and foot drop rehabilitation through a wearable device combining functional electrical stimulation (FES) and ultrasonic rehabilitation therapy. I was responsible for the structural design of the device’s casing, achieving a balance of comfort, ease of use, and scalability through 3D printing. I also participated in experimental trials to validate its performance. I also contributed to the research of the signal processing workflow for surface electromyography (sEMG) signals. Additionally, I developed a dual-leg motion evaluation system based on STM32F7, utilizing an 8-channel IMU setup to collect and analyze motion data from key leg joints, supporting rehabilitation evaluation.