Percutaneous intramuscular electrodes and a portable multichannel system were used to restore the function of paralyzed upper and lower extremities in spinal cord injuries and hemiplegic patients. The hybrid functional electrical stimulation (FEC) using percutaneous intramuscular electrodes provides practical ambulation for paraplegics. FES was more effective than the flexor hinge splint in increasing the grasping power (GP) of tetraplegic patients, and a stronger and stable GP which was not affected by wrist position make FES practical for improving the activities of daily living. A tilt sensor, which was put on the thigh, could be used to measure a gait cycle. This study suggests that putting a tilt sensor on a hemiplegic patient's thigh improves the FES procedure and may help to restore gait in these patients. We conclude that percutaneous intramuscular FES is useful for spinal cord injuries and hemiplegic patients.