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This research focuses on development of a synergistic controller employing remaining voluntary elbow flexor and shoulder EMG to control elbow extension in C5/C6 SCI with functional electrical stimulation. We hypothesize that the remaining voluntary upper extremity muscles of a C5/C6 SCI subject produce a repeatable, recognizable pattern of EMG signals indicative of the level of triceps stimulation needed. Preliminary studies illustrate that reciprical control of triceps stimulation with biceps EMG was an effective control method. Currently, improvements are being made to the reciprocal controller. EMG inputs from other voluntary elbow flexor and shoulder muscles are being added to the controller to further increase effectiveness.