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Functional electrical stimulation (FES) is a mobility assisting technology commonly used to help persons with weakness of ankle dorsiflexor muscles due to peripheral or central nervous system disorders. FES is a method for control of muscle contractions that produce specific movements required by the patient. This paper presents a control device that allows the intensity of stimulation to be modulated throughout the gait cycle using pulse-width modulation (PWM). A microcontroller and signals received from two sensor arrays incorporated in the insoles of the two legs control the stimulation pulse-width applied to the user during the stimulation cycle. During each gait cycle a microcontroller estimates the forward speed and modulates flexion and extension in order to achieve quite normal walking dynamics. The proposed intelligent control was used to control different models of personalized ankle-foot orthoses designed using reverse engineering and rapid prototyping by the joint team at Bulgarian Academy of Sciences/Cardiff University.