 Functional electrical stimulation, FES, can be used to restore motor function to people with paralysis caused by spinal cord injury, SCI, but chronically paralyzed FES stimulated muscles can fatigue quickly, reducing FES controller performance. Deep neural network, DNN, controllers trained with reinforcement learning, RL, have been shown to improve controller performance for highly fatigable musculoskeletal systems. This article was offered by Jessica Abru, Douglas C. Crowder and Robert F. Kirsch.