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The aim of this work is to provide a characterization of the effect of different frequency levels of Electric Epidural Stimulation on a set of gait parameters for spinal cord injured rats. Once a steady-frequency model has been developed, the aim is to tackle the problem of hind-limbs kinematics throughout the gait, predicting joint trajectories in presence of a class of input variations (where the parameter is the stimulation frequency). A dynamic model for the stimulator-rat system is developed and a controller for gait parameters is set, and tested in vivo, to provide the desired value for foot elevation angle by modulating input frequency.