Abstract: A system for exercising paralyzed human limbs by functional electrical stimulation. The system utilizes simple analog devices including a reference signal generator, a position sensor and an error signal generator. The error signal is integrated to produce a stimulation driving signal for application to stimulation electrodes mounted on the limb. In the disclosed embodiment the paralyzed person may be seated in an exercise chair. The chair is equipped with a pair of loading assemblies which may be attached to the legs of the person so as to yieldingly resist stimulated movement thereof.