This document summarizes research on using optimal feedback control for human gait with functional electrical stimulation. The researchers used a musculoskeletal model of the legs controlled with open-loop stimulation and added various forms of feedback, including muscle spindle, joint angle, joint velocity, and forefoot pressure feedback. Through simulations, they found that each type of feedback could improve stability but stability was not fully achieved. The best results came from combining joint angle and velocity feedback, achieving a maximum Floquet exponent of -0.1482, indicating stability. However, limitations in the model, sensors, and control system prevented true stable walking from being achieved.