Muscle synergy-based upper limb functional electrical stimulation control method and system

The invention relates to an upper limb functional electrical stimulation control method and system based on muscle synergy, and the method relates to the field of rehabilitation treatment. The method aims at solving the problems of antagonism and redundancy of multiple muscles in multi-channel electrical stimulation rehabilitation control, and mainly comprises the steps of collecting surface electromyogram signals and angle signals in the upper limb joint movement process, establishing a muscle cooperation and angle information model, and designing a muscle cooperation and iterative learning control combined method. The innovation of the method lies in that a relation model between the joint angle and angular velocity and the muscle cooperative activation degree is established, initial electrical stimulation input of iterative learning control is generated according to the model, and muscle cooperation is applied to parameter adjustment in the control process. The method better conforms to the mechanism of hu