Fig 2. Performance under different modes of control.

(A) Accuracy of decoder, defined as the proportion of decoded directions that matched the target location, in the single-movement task (chance performance 25%). (B) Success rate, defined as the percentage of trials in which the animals reached the reward location within 15 seconds, in the single-movement task (chance performance ~0%). (C) Average time that the animals took to reach the target during correct trials in the single-movement task. Error bars represent the standard error of the mean, and asterisks denote results that were significantly different from those of the Joystick Control task (blue bars, t-test, p<0.01). (D) Platform trajectories during Joystick Control (blue lines) and BMI Control using the Recalibrated Decoder (red lines) in the free-movement task that required the monkeys to move sequentially through a series of targets. The gray circles represent target locations. Animals controlled the platform continuously from the start until the end point. Trajectories were collected during a single experimental session.