 Dr. Harkema and the research team might ask the participant to return for training in the laboratory for an extended time 80-100 sessions during the follow up period. Training stand or step will be designed to optimize parameters and built to improve on previous training. During this time participants might be asked to functional train with the combination of our adaptive epidural stimulation strategy with manual LT. During training, the participants will be provided with ES using the parameters determined using the computation learning method which is developed during phase 2 described below. 