Stroke and Spinal Cord Injury (SCI) are the two most common causes of paralysis, affecting thousands of people worldwide. Voluntary movement rehabilitation has been enriched in recent years by continuously incorporating knowledge about the mechanisms underlying motor function recovery. One central concept in neurorehabilitation is neuroplasticity, the ability of the central nervous system to reorganize itself during the acquisition, retention, and consolidation of motor skills. Functional Electric Stimulation (FES) aid motor recovery by delivering electrical current pulses to patients through non-invasive electrodes and specialized equipment. An event-based system was previously designed to control FES in real-time. The system allowed accurate replication of the movement performed by a therapist on a patient subject by automatically modulating the intensity of electrical stimulation.