Information regarding how motor units are controlled to produce forces in individuals with stroke and the mechanisms behind muscle weakness and movement slowness can potentially inform rehabilitation strategies. The purpose of this study was to describe the rate coding mechanism in individuals poststroke during both constant (n = 8) and rapid (n = 4) force production tasks. Isometric ankle dorsiflexion force, motor unit action potentials, and surface electromyography were recorded from the paretic and nonparetic tibialis anterior. In the paretic limb, strength was 38% less and the rate of force development was 63% slower. Linear regression was used to describe and compare the relationships between motor unit and electromyogram (EMG) measures and force. During constant force contractions up to 80% maximal voluntary contraction (MVC), rate coding was compressed and discharge rates were lower in the paretic limb. During rapid muscle contractions up to 90% MVC, the first interspike interval was prolonged and the rate of EMG rise was less in the paretic limb. Future rehabilitation strategies for individuals with stroke could focus on regaining these specific aspects of motor unit rate coding and neuromuscular activation.