At least one electrical brain signal is received from a patient and is demultiplexed into an efferent motor intention signal and at least one afferent sensory signal (such as an afferent touch sense signal and/or an afferent proprioception signal). A functional electrical stimulation (FES) device is controlled to apply FES to control a paralyzed portion of the patient that is paralyzed due to a spinal cord injury of the patient. The controlling of the FES device is based on at least the efferent motor intention signal. A demultiplexed afferent touch sense signal may be used to control a haptic device. The afferent sensory signal(s) may be used to adjust the FES control.