Foot drop is a general term referring to the difficulty flexing dorsally of the foot. It is commonly observed in subjects with muscle weakness related to upper motor neuron disease or injury, including stroke survivors and individuals with multiple sclerosis. Foot drop may significantly affect the gait as it decreases toe clearance during the swing phase thus increasing the risk of falls. Functional electrical stimulation (FES) of tibialis anterior (TA) has been proposed to assist ankle dorsiflexion (DF) during the swing phase in patients affected by foot drop, such devices are referred to as peroneal stimulators. Although peroneal stimulators were shown to improve the gait in subjects with foot drop, their diffusion has been limited by a common issue affecting all FES devices: the increased muscle fatigability due to non-physiological motor unit (MU) activation during electrically-induced contractions.