In this work, a novel FES-robot system was developed for wrist rehabilitation training after stroke. The FES-robot system could be continuously controlled by electromyography (EMG) from the residual wrist muscles to facilitate wrist flexion and extension tracking tasks on a horizontal plane by providing assistance from both FES and robot parts. The system performance with five different assistive combinations from the FES and robot parts was evaluated by subjects with chronic stroke (n=5). The results suggested that the assistance from the robot part mainly improved the movement accuracy in the tracking tasks; and the assistance from the FES part mainly suppressed the excessive muscular activities from the elbow joint. The best combination was when the assistances from FES and robot was 1:1, and the results showed better wrist tracking performance with less muscle co-contraction from the elbow joint.