Figure 1. Application of neural activity based error detection for improvement of a continuous BMI control.

Subjects intend to move a cursor towards the top left target (white arrow). If the decoding is correct, the cursor performs the intended movement and no neuronal error signal is elicited in a subject. If there is a discrepancy between the intended and the decoded movement, an ERNR can be elicited. If the discrepancy is large enough, it can elicit an execution ERNR. If the execution error is detected by the BMI system, the decoding algorithm can be adapted to reduce the number of errors in decoding in the future. If the unwanted movement causes the cursor to reach an unwanted target, an outcome ERNR may be evoked. If the outcome ERNR is detected by the BMI system, it can change the decoding algorithm as well, this time in a different way.