A system for adapting a control mapping associating sensor signals with control signals for controlling an operation of a device, the system comprising: a plurality of sensors including a plurality of neuromuscular sensors (102, 604) arranged on one or more wearable devices, wherein the plurality of neuromuscular sensors (102, 604) are configured to continuously record neuromuscular signals from a user (101, 606); at least one computer hardware processor (103, 410); at least one non-transitory computer-readable storage medium (420, 430) storing processor-executable instructions that, when executed by the at least one computer hardware processor (103, 410), cause the at least one computer hardware processor (103, 410) to perform: obtaining a plurality of neuromuscular signals from the plurality of sensors; characterised by obtaining first state information for an operation of the device, wherein the first state information includes information relating to the state of a task; providing the first state information as input to an intention model associated with the operation of the device and obtaining a first intention model output including an estimate of an intended control signal; providing the neuromuscular signals and/or signals derived from the neuromuscular signals as inputs to a first control mapping and obtaining a first control mapping output; comparing the first control mapping output with the estimate of the intended control signal; updating the first control mapping using the inputs to the first control mapping and the first intention model output to obtain a second control mapping; and controlling the device using a control signal based on the second control mapping. a plurality of sensors including a plurality of neuromuscular sensors (102, 604) arranged on one or more wearable devices, wherein the plurality of neuromuscular sensors (102, 604) are configured to continuously record neuromuscular signals from a user (101, 606); at least one computer hardware processor (103, 410); at least one non-transitory computer-readable storage medium (420, 430) storing processor-executable instructions that, when executed by the at least one computer hardware processor (103, 410), cause the at least one computer hardware processor (103, 410) to perform: obtaining a plurality of neuromuscular signals from the plurality of sensors; characterised by obtaining first state information for an operation of the device, wherein the first state information includes information relating to the state of a task; providing the first state information as input to an intention model associated with the operation of the device and obtaining a first intention model output including an estimate of an intended control signal; providing the neuromuscular signals and/or signals derived from the neuromuscular signals as inputs to a first control mapping and obtaining a first control mapping output; comparing the first control mapping output with the estimate of the intended control signal; updating the first control mapping using the inputs to the first control mapping and the first intention model output to obtain a second control mapping; and controlling the device using a control signal based on the second control mapping. obtaining a plurality of neuromuscular signals from the plurality of sensors; characterised by obtaining first state information for an operation of the device, wherein the first state information includes information relating to the state of a task; providing the first state information as input to an intention model associated with the operation of the device and obtaining a first intention model output including an estimate of an intended control signal; providing the neuromuscular signals and/or signals derived from the neuromuscular signals as inputs to a first control mapping and obtaining a first control mapping output; comparing the first control mapping output with the estimate of the intended control signal; updating the first control mapping using the inputs to the first control mapping and the first intention model output to obtain a second control mapping; and controlling the device using a control signal based on the second control mapping.