fes technology has been used to deliver therapies to retrain voluntary motor functions such as grasping, reaching and walking. in this embodiment, fes is used as a short-term therapy, the objective of which is restoration of voluntary function and not lifelong dependence on the fes device, hence the name functional electrical stimulation therapy, fes therapy (fet or fest). in other words, the fest is used as a short-term intervention to help the central nervous system of the person to re-learn how to execute impaired functions, instead of making the person dependent on neuroprostheses for the rest of her or his life.