A stimulation system has been built for application in clinical and laboratory environments. It has been designed to serve two individual functions. First, the system is used as a research tool in Functional Electrical Stimulation (FES). Second, the system functions as a rehabilitative assist device for individuals with spinal injuries. The stimulator uses multiple parallel processors in a master-slave configuration to support a multiple-channel, coordinated approach to Functional Electrical Stimulation. Each channel operates as a stand-alone stimulation unit under parametric control of a system master. The system master controls the slave channels operating from either resident programming or from instructions sent to it by a host computer (user interface). Waveform and stimulus parameters are all dynamically controlled. A first prototype has already been in clinical operation for six months and a second prototype is being designed. Results, while mostly qualitative, indicate that fatigue and pain can be lessened by iteratively tailoring waveforms to individual subjects.