A significant number of pathologies, such as stroke or spinal cord injury, can lead to severe motor impairments and paralysis, drastically affecting a person's quality of life and autonomy. One of the most widely used rehabilitation techniques is Functional Electrical Stimulation (FES), a treatment that induces muscle contraction by delivering low-energy electrical pulses to the muscles through non-invasive electrodes. This approach, which has also been proven effective in improving muscle strength, alleviating pain, and reducing spasticity, enables patients to restore physiological muscle activity by leveraging the neuroplasticity of the central nervous system. Despite extensive research over the past decades, applying FES to recover dexterous hand movements remains challenging.