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Spinal cord injury (SCI) paralyzes approximately 12,000 people each year in the United States. Individuals with an injury at and above the sixth cervical vertebra (C6) lose function in the upper and lower limbs. To provide greater independence to this population, the restoration of reaching and grasping movements is critically important. Functional electrical stimulation (FES) is currently the only clinical approach for reanimating paralyzed muscles. The chapter starts by reviewing existing technologies for obtaining a control signal that is usable for a FES neuroprosthesis. This is followed by a discussion of the promise that recent advances in brain??-??machine interfaces (BMIs) hold for more natural user interfaces. Differences in the information content of potential signal sources suggest that enhanced control signals may be generated through an efficient combination of the available sources from each individual. Finally, the chapter discusses the relation between off-line decoder accuracy and online user performance.