A literature review from 2011 to 2024 of lower-limb BCIs used Functional Electrical Stimulation (FES) and Motor Imagery (MI) is presented here. This review study addresses advantages and disadvantages of these systems, as well as technical details towards the elaboration of progressive motor rehabilitation proposals, which consider the use of foot dorsiflexion, pedaling, and treadmill, even including FES for one specific muscle or leg muscle activation. The literature lacks Neurofeedback (NFB) approaches to teach modulation techniques both \(\mu \) and \(\beta \) cortical rhythms and enhance neuroplasticity. However, some studies highlighted the importance of this technique and promising results such as the improvement of range of motion, and the reorganization of brain activity. The literature review allows concluding the feasibility of using NFB approaches combined with MI-based BCI systems for lower-limb rehabilitation using FES and robotic devices. Future works will focus on elaborating a progressive proposal and validation in able-bodied subjects and patients with severe motor impairments.