Functional electrical stimulation (FES) sometimes applies to patients with partial paralysis. so human voluntary control and FES control both exist. Our study aims to build a cooperative controller to achieve human-FES cooperation. This cooperative controller is formed by a classical FES controller and an impedance controller. https://www.roneverhart.com/100-Percent-Sunglasses-SPEEDCRAFT-LE-Money-Mike-HiPER-Silver-Mirror/