Post-stroke hemiplegic gaits are typically characterized by a decrease in forward propulsion and dorsiflexion angle, resulting in decreased mobility and an increased risk of falling. To address these issues, we design a hybrid assistive system that integrates functional electrical stimulation (FES) and a soft exosuit. This hybrid system synergistically combines biomechanical support with neuromuscular activation. Moreover, we propose a shank-angle-guided control strategy for the hybrid FES-soft exosuit system, ensuring stable assistance across various walking speeds. Clinical trials involving two post-stroke patients demonstrated that the developed hybrid system significantly reduced interlimb propulsion asymmetry and enhanced interlimb dorsiflexion angle symmetry during the swing phase, resulting in a significant increase in interlimb symmetry. These results highlight the potential of the hybrid system to simultaneously address hemiplegic gaits in post-stroke patients.