CLINICS 2011;66(S1):25-32 Finally, we will use the algorithms developed in these experiments to control a full-body monkey exoskeleton in a non-human primate which has been subjected to a spinal cord anesthetic block to produce a temporary and reversible state of quadriplegia. This exoskeleton will encase the monkey’s arms and legs. It will be attached to the monkey using bracelets molded in the shape of the monkey’s limbs. A full body exoskeleton prototype will be utilized. The basic design and controller will be based on the humanoid robot, Computational Brain (CB).27,86 The exoskeleton will provide full-sensory feedback to the BMI set up—joints position/ velocity/torque, ground contacts and orientations. In BMI mode, the exoskeleton will guide the monkey’s limbs with smooth motions while at the same time monitoring its range of motions to ensure it is within the safety limits. 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