In the world 15 million strokes occur every year. Disability is mainly caused by stroke, making it the primary reason for disabilities and the second leading cause of death worldwide. Developing countries account for two-thirds of strokes. Upper limb weakness is the most common post-stroke effect. Weakness in the upper limbs has an impact on day-to-day activities. Rehabilitation is needed to restore body function. Functional Electrical Stimulation (FES) is one way of rehabilitation. However, Functional Electrical Stimulation (FES) tends to saturation post-stroke patients. This study uses a device called Functional Electrical Stimulation (FES), which has two or multiple channels. It also involves a microcontroller called STM32F103C8T6, as well as two sensors called accelerometer and gyroscope. The purpose is to measure the angle of the shoulder joint. The Functional Electrical Stimulation (FES) module consists of a Boost Converter, Pulse Generator, and Channel Driver. Boost Converter can produce 130-144V output. The Pulse Generator can produce 20 Hz pulses 200 μ s wide. By using a Fuzzy Logic Controller control system, Functional Electrical Stimulation (FES) will be controlled using fuzzy. The research indicates that our usual response to a stimulus is to move towards the desired trajectory. Testing of this system is still limited to normal subjects and the rehabilitation process can restore shoulder joint motion. The average RMSE is 15. 18, and the error is mainly caused by the delay from the microcontroller and Bluetooth connection.