The purpose of this study was to develop a walking-aid FES system, and compare an accuracy of detection rate of our system with that of commercially widely-used systems, ODFS and WalkAide2. The developed system, including main FES system, motion sensor (one accelerometer and one tilt sensor) system and electrode system, was operated by a remote controller that sends FES parameters by Bluetooth communication. Four hemiplegic patients participated. To evaluate the validity of the developed system, an accuracy of detection rate of our system was compared with that of ODFS and WalkAide2. The developed system showed reliable success rate of 97.1% compared to ODFS, 83.8%, and WalkAide2, 93.4%. High accuracy stimulation expected to be good for hemiplegic gait in daily life.