Epidural electrical stimulation (EES) showed promises to improve standing and walking after neurological disorders. To date, EES has been delivered continuously, although time-dependent stimulations would likely be more efficient to activate specific subsets of sensorimotor circuits with the appropriate timing. To address this issue, we developed a real-time stimulation platform that allows to trigger EES during pre-defined phases of the gait cycle in freely walking rats. We leveraged this platform to demonstrate the ability of time-dependent EES to modulate key aspects of locomotor kinematics in rats with complete spinal cord transection. This platform will support the development of personalized stimulation strategies that can be tailored to the need of individual subjects