Apparatus for producing a dorsiflexion of the foot of a patient comprises a combined sensing and stimulation electrode device having neurosense and stimulation electrode means capable of sensing a nerve signal from a peripheral nerve and stimulating peripheral motor nerve fibers. The neurosense and stimulation electrode means are implantable above the knee of a patient. Means for receiving and processing the sensed nerve signals are provided to identify a signal indicative of the timing of hell strike and heel lift of the patient and for producing a control signal in response thereto. Means for operating said neurosense and stimulation electrode means in response to the control signal to produce stimulation of the peripheral motor nerve fibers are also provided.