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Electrocorticography (ecog) or intracranial electroencephalography (iEEG) monitors neural activity by directly applying a grid of electrodes to a surgically exposed brain.

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Latency between actual neurons firing and muscles response in open and close fist experiment

Short answer Reported motor delays between brain activity and motor response are in the order of 6 - 9 ms. Background I found a study where the authors used deep brain stimulation electrodes implant …
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