A method for improving mobility and/or the quality of synovial fluid of an affected articular joint, wherein the joint is associated with at least a first muscle group and at least a second muscle group each having an antagonistic relationship for effecting mobility of the joint through a range of motion when recruited by natural neural impulses. The method includes positioning at least two first electrodes proximate to the at least first muscle group, positioning at least two second electrodes proximate to the at least second muscle group, and applying motor-level electrical stimulation to the at least first and second muscle groups via the at least two first and second electrodes in a multiphasic pattern corresponding to a sequence of electromyographic outputs.