Foot　drop　is　the　phenomenon　that　ankle　joint　cannot　produce　dorsiflexion　and　the　toe　lifting　is　incomplete　or　impossible　due　to　nerve　control　dysfunction.　The　functional　electrical　stimulation　(FES)　is　used　as　a　treatment　method　to　correct　foot　drop　gait,　which　uses　low-frequency　pulse　to　stimulate　tibialis　anterior　to　cause　muscle　contraction　and　dorsiflexion　of　ankle　joint.　The　FES　output　intensity　modulation　method　based　on　EMG　modulation　and　iterative　learning　control　(ILC)　is　proposed　in　this　article.　The　angular　velocity　signal　of　the　lower　leg　is　used　to　predict　the　EMG　of　tibialis　anterior　in　healthy　gait　through　the　dynamic　BP　neural　network,　and　the　toe　pitch　is　used　as　feedback　signal　to　output　the　reference　EMG　through　ILC.　The　reference　EMG　and　the　EMG　predicted　by　neural　network　are　weighted-average　to　obtain　the　modified　EMG.　Finally,　the　FES　output　is　modulated　by　the　muscle　activation　characteristics.　The　experimental　results　show　that　the　toe　pitch　angle　in　open-loop　EMG　modulation　mode　is　only　about　17°.　Through　the　closed-loop　modulation　mode,　the　maximum　toe　pitch　angle　is　about　21°.　By　analyzing　experimental　data.　It　can　be　concluded　that　the　system　can　help　patients　with　foot　drop　to　carry　out　rehabilitation　training.　©　2023　Science　Press.　All　rights　reserved.