A new approach for a Patient-Cooperative Upper Limb FES Support based on Vector Fields * *The work was conducted within the research project BeMobil, which is supported by the German Federal Ministry of Education and Research (BMBF) (FKZ16SV7069K). We would further like to acknowledge Axelgaard Manufacturing Co., USA for donating the used stimulation electrodes. The performed trials have been approved by the ethics committee of the Berlin Chamber of Physicians