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Inclusion Criteria:

* Men and women18-65 yrs
* Able to read, understand, and speak English to ensure safe participation in the project
* Clinical diagnosis of relapsing-remitting MS
* Self-reported difficulty with walking
* On stable doses of Ampyra, provigil, or other symptomatic-treating medications
* No relapse or systemic steroids within the last 30 days
* Able to arrange transportation to the Boulder campus

Exclusion Criteria:

* Vision or hearing problems that have not been corrected
* Problems with sensations to temperature, pressure, or pain
* Any arm or leg problems that would influence the ability to hold a weight
* Surgery to the arms or legs that continues to bother the participant
* Metal implants
* Medical diagnosis or condition that is considered to be an absolute or relative contraindication to participating in exercise training, such as major renal, pulmonary, hepatic, cardiac, gastrointestinal, HIV, cancer (other than treated basal cell cancer), other neurological disorders, or pregnancy
* History of head injury or stroke
* Taking antidepressants, anticholinergics, stimulants, sedatives, cannabis, illicit drugs or medications to treat herpes or neurologic pain.
* Diagnosis of diabetes mellitus
* Poorly controlled hypertension
* History of seizure disorders
* ≥2 alcoholic drinks/day, or present history (last 6 months) of drug abuse
* Spasticity that requires the individual to change intended activities more often than once a week
* Skin diseases or sensation problems in the legs or hands that influences some activities more often than once a week
* Inability to attend exercise sessions 3 days per week for 6 weeks

• Boulder, Colorado, United States