The parameter setting of functional electrical stimulation (FES) is important for active recovery training since it affects muscle health. Among the FES parameters, current amplitude is the most influential factor. To explore the FES effect on the maximum stimulation time, this study establishes a curve between FES current amplitude and the maximum stimulation time based on muscle fatigue. We collect 10 subjects’ surface electromyography under dumbbell weightlifting training and analyze the muscle fatigue state by calculating the root mean square (RMS) of power. By analyzing signal RMS, the fatigue characteristic curves under different fatigue levels are obtained. According to the muscle response under FES, the relationship curve between the current amplitude and the maximum stimulation time is established and FES parameters’ effect on the maximum stimulation time is obtained. The linear curve provides a reference for FES parameter setting, which can help to set stimulation time safely, thus preventing the muscles from entering an excessive fatigue state and becoming more active to muscle recovery training.

Brain–computer interface (BCI) is a typical direction of integration of human intelligence and robot intelligence. Shared control is an essential form of combining human and robot agents in a common task, but still faces a lack of freedom for the human agent. This paper proposes a Centroidal Voronoi Tessellation (CVT)-based road segmentation approach for brain-controlled robot navigation by means of asynchronous BCI. An electromyogram-based asynchronous mechanism is introduced into the BCI system for self-paced control. A novel CVT-based road segmentation method is provided to generate optional navigation goals in the road area for arbitrary goal selection. An event-related potential of the BCI is designed for target selection to communicate with the robot. The robot has an autonomous navigation function to reach the human selected goals. A comparison experiment in the single-step control pattern is executed to verify the effectiveness of the CVT-based asynchronous (CVT-A) BCI system. Eight subjects participated in the experiment, and they were instructed to control the robot to navigate toward a destination with obstacle avoidance tasks. The results show that the CVT-A BCI system can shorten the task duration, decrease the command times, and optimize navigation path, compared with the single-step pattern. Moreover, this shared control mechanism of the CVT-A BCI system contributes to the promotion of human and robot agent integration control in unstructured environments.