Functional Electrical Stimulation (FES) is the only way to restore movements of paralised limbs. Through different projects we are interested in many of the following aspects of FES : implanted stimulators, sensors, biomechanics, closed loop controled of stimulated muscles, and movement synthesis and analysis, patient interface. As regards the research fields, we aim at using robotics approaches because of the important amount of available theoritical results. Nevertheless, the specificity of the human biomechanics, in particuler the complexity of the muscle behaviour, needs further theoritical development to be carried out in order to study and control highly non linear systems. Experimentations on patients remain difficult and need close collaborations with medical partners.