The ParaCycle is a new motor neuroprosthesis system that enables peoples with spinal cord injury, traumatic brain injury, Multiple Sclerosis (MS), cerebral palsy (CP), and stroke patients to have leg-cycling motion using functional electrical stimulation. In the ParaCycle system, sequences of current pulses excite the intact lower motor neurons, which in turn contract paralyzed muscles. Activation of the lower motor neurons is achieved using electrodes placed on or near the innervating nerve fibers. By changing the parameters of the stimulation signal, the level of contraction can be altered to perform a specific task. To provide leg-cycling motion of the paralyzed limbs, an appropriate electrical stimulation pattern should be delivered to a set of muscles. In the ParaCycle system, an efficient control strategy generates the appropriate stimulation signals which are delivered to the paralyzed muscle via surface electrodes.