Spinal cord injury (SCI), stroke and multiple sclerosis are some of the main causes that lead people to paralysis, worsening their daily-life quality. In such scenario, physiotherapeutic procedures require novel techniques in order to improve effectiveness and suitability of rehabilitative applications. A proper response to this challenge can be the Functional Electrical Stimulation (FES), a technique born in the 1960s which is continuously evolving to satisfy medical requirements. The principle behind FES is to induce muscle contraction by applying low-energy pulses to the motor nerves of the muscle of interest, stimulating their activation through the use of non-invasive electrodes. Therefore, the development of a system able to enhance the benefits of FES application covers a central role in clinical and medical research programs.