Figure 1. Overview of the experimental design.

(A) The mobile robotic wheelchair, which seats a monkey, was moved from one of the three starting locations (dashed circles) to a grape dispenser. The wireless recording system records the spiking activities from the monkey’s head stage, and sends the activities to the wireless receiver to decode the wheelchair movement. (B) Schematic of the brain regions from which we recorded units tuned to either velocity or steering. Red dots correspond to units in M1, blue from PMd and green from the somatosensory cortex. (C) Three video frames show Monkey K drive toward the grape dispenser. The right panel shows the average driving trajectories (dark blue) from the three different starting locations (green circle) to the grape dispenser (red circle). The light blue ellipses are the standard deviation of the trajectories.