Abstract: Disclosed herein are methods for treating impairment of a limb in a subject. Particular methods comprise applying a therapeutically effective amount of an electrical stimulus to dorsal roots, dorsal rootlets, or dorsal root ganglia, of sensory neurons innervating the limb of the subject, wherein the impairment is a motor impairment and/or a proprioception impairment due to neurological disorder or injury, the electrical stimulus is applied with one or more electrodes controlled by a neurostimulator, and the one or more electrodes are implanted in the epidural space at the dorsolateral aspect of the spinal cord and proximate to the dorsal roots or dorsal rootlets of the sensory neurons innervating the limb of the subject, or the one or more electrodes are implanted proximate to dorsal root ganglia of sensory neurons innervating the limb of the subject.