Stroke-induced lower extremity dysfunction has become a severe medical problem nowadays and effective rehabilitation methods are in great demand. In this work, a new real-time Electromyography-driven Functional Electrical Stimulation (FES) cycling system was developed to help chronic stroke patients with lower limb rehabilitation training. To evaluate the feasibility and effectiveness of this system, 3 chronic stroke subjects were recruited and each received 20 training sessions where real-time Electromyography (EMG) was used to interact with the cycling system. During the training, two typical metrics, averaged Area Under Torque (AUT) and maximal EMG amplitude, were adopted to measure the muscle strength changes of hamstring (HS). The training results showed that the two measurements of HS both significantly increased, especially the maximal EMG amplitude in the last trial was twice as much as that in the first trial, indicating paretic limb strength increment and functional recovery, which suggested that our system is effective and helpful in the stroke rehabilitation.