A functional electrical stimulation (FES)-robot system controlled by subjects' motor intention was developed in our previous study. The effectiveness of the FES-robot on wrist training was investigated in this work. Five hemiplegic subjects with chronic stroke were recruited for an FES-robot assisted wrist training with 20 sessions. After the training, motor improvements were found in the wrist and fingers, represented by significant increase (P<0.05) in clinical scores of the Fugl-Meyer Assessment (FMA), the Action Research Arm Test (ARAT), and the Modified Ashworth Score (MAS). Muscle coordination in the upper limb was also improved during the training as assessed by electromyography. The increased ARAT scores suggested improved upper limb motor functions, especially in the hand and fingers, compared to no improvement in previous study with only interactive robot-assisted wrist training without FES.