Shared-human robot control strategy based on a finite-state machine (FSM) triggered by electroencephalography/electrooculography (EEG/EOG). (a) Visualization of whole-arm exoskeleton actions controlled by EEG/EOG. Green arrows indicate horizontal oculoversions to the right (HOVr) recorded with EOG, while “close hand” and “open hand” indicate EEG desynchronization of sensorimotor rhythms (SMR-ERD, 9–15 Hz) related to motor imagery of grasping and releasing motions. Purple arrows represent actions of the whole-arm exoskeleton. (Drawings: D. Marconi, The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy). (b) Flowchart of the whole-arm exoskeleton control loop.