BEACON, N.Y. — After 28 years in prison, Freddie Cox emerged from the Fishkill Correctional Facility, not quite a free man, but free enough.

A sister had cued up Sam Cooke’s “A Change Is Gonna Come” on her car’s CD player, and, after hugs, Mr. Cox put his two small bags and his typewriter in the car and squeezed in alongside the others, heading away from prison, windows down.

Mr. Cox had been imprisoned for a 1986 murder in Coney Island, Brooklyn. He said then and he says now that he is innocent — and he has maintained that position at four parole hearings.

Three times, the parole board rejected Mr. Cox, even though a co-defendant — who admitted to the murder, and has said Mr. Cox was innocent — was granted parole three years ago.