A brain-machine interface is provided that incorporates a neural dynamical structure in the control of a prosthetic device to restore motor function and is able to significantly enhance the control performance compared to existing technologies. In one example, a neural dynamical state is inferred from neural observations, which are obtained from a neural implant. In another example, the neural dynamical state can be inferred from both the obtained neural observations and from the kinematics. A controller interfaced with the prosthetic device uses the inferred neural dynamical state as input to the controller to control kinematic variables of the prosthetic device.
Brain machine interfaces incorporating neural population dynamics