In this study, a novel approach is proposed to improve stance phase support symmetry recovery in acute post-stroke individuals, based on knee joint control. Functional electrical stimulation (FES) is delivered to the quadriceps and hamstrings muscles of the paretic limb based on the online estimation of knee angle and support phase. This paper is a proof-of-concept article, which introduces the global approach and some preliminary results obtained on two participants with post-stroke hemiplegia.