Transcutaneous spinal cord stimulation (tSCS) is a non-invasive neuromodulation technique that aims to restore voluntary movement in impaired individuals by increasing the excitability of spinal networks through surface electrode stimulation. Although tSCS has demonstrated efficacy in gait rehabilitation, its ability to selectively target specific muscle groups remains limited compared to invasive epidural spinal cord stimulation (eSCS). Functional electrical stimulation (FES), in contrast, is a stimulation technique that directly applies electrical impulses to muscles to generate functional movements through activation of peripheral motor nerves. FES has also shown promise in improving gait performance in impaired individuals; however, its non-physiological motor unit recruitment and synchronous activation patterns often lead to rapid muscle fatigue.