Abstract: In one aspect the present disclosure provides a method of rehabilitating a person who has suffered central nervous system damage including the steps of providing exercise equipment capable of exercising a person's limbs, providing functional electrical stimulation to the person's limbs to be exercised in order to operate the exercise equipment, increasing the level of functional electrical stimulation; decreasing a resistance provided by the exercise equipment or providing assistance to maintain an acceptable speed of the exercise equipment as the person's muscles tire; finally completely removing functional electrical stimulation to the person's limbs and providing assistance to maintain an acceptable speed of the exercise equipment; and continuing passive exercise of the person's limbs for a period of time greater than two minutes. Also provided are apparatuses to carry out the method.