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This study proposes a digital signal processor (DSP) based functional electrical stimulation (FES) system with multichannel and programmable design. Also, the element-envelope method is used for flexible and arbitrary waveform generation in real-time. In addition, we use LabVIEW software which is the graphical object-oriented language to design a toolbox for clinical users who are not familiar with the conventional text-based languages. With the user-friendly man-machine interface and toolbox design, they can develop their own user interfaces for the experimental or clinical studies easily. The proposed FES system compared with others shows the superiority and versatility in waveform pattern generation, feedback processing capabilities and the user-friendly man-machine interface design.