The non-invasive closed-loop neurorehabilitation protocol: I) EEG: Electroencephalography, non-invasive brain-recording. II) Brain-machine interface: real-time decoding of motor intentions. III) The left or right leg muscles are stimulated to trigger the stepping. IV) sFES: surface functional electrical stimulation of 16 lower-limb-muscles, 8 in each-leg. V) Detection of the-patient's leg trajectory and real-time correction of the stimulation amplitude. VI) The subject receives haptic feedback on the forearms representing the swinging of the legs and visual neurofeedback (real-time detection of brain signals).