“…It applies an electric current to one or more muscles to stimulate its peripheral motor nerves, producing muscle contractions and prompting the limbs to complete corresponding functional motions ( Lynch and Popovic, 2008 ). FES has been proven to be effective in improving upper extremity motor abilities in patients with stroke ( Glanz et al, 1996 ; Chan et al, 2009 ; Knutson et al, 2016 ) and has been combined with rehabilitation robots and rehabilitation training games ( Hodkin et al, 2018 ; Fu et al, 2020 ), as it promotes neural remodeling and relearning in the patients with nerve damage ( Quandt and Hummel, 2014 ). At present, most practical applications of FES use preset parameters to stimulate muscles, i.e., a specific waveform, intensity, and frequency according to a predetermined procedure ( Lynch and Popovic, 2008 ).…”