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A high-level objective of neuromuscular electrical stimulation (NMES) is to enable a person to achieve some functional task. Towards this goal, the objective of the current effort is to develop a NMES controller to produce a knee position trajectory that will enable a human shank to track any continuous desired trajectory (or constant setpoint). A nonlinear control method is developed to control the human quadriceps femoris muscle undergoing nonisometric contractions. The developed controllerdoi:10.1109/tnsre.2009.2023294 pmid:19497828 fatcat:odzrvoa25zgwtlit53kqnr7bqq