I have seen a book that's called "10000000000 rhythms" or something... It's intended for drummers, and it has pages that are cut in 4 parts. So you can turn each quarters independantly, creating a new rhythm (each quarter is for each leg/arm) If you can get a hold of something like this,try reading it as if they were 4 consecutive staves.
Or try Polyrhythms (found in African music, and Frank Zappa :) ) Try incorporating odd meters in you music. Exemple: "Money" By Pink Floyd, the rhythm is based on a 7/4 measure (a 4 followed by a 3) or "Take Five" based on a 5/4 (or "Mission Impossible" same rhythm)