Research on modern BCIs began at UC where the term was coined, with early developments including Hans Berger's discovery of EEG signals in humans and Wilder Penfield and Herbert Jasper's work on ECoG in animals. Over the following decades, important milestones included monkeys controlling computers, the first human BCI implant in a paralyzed patient, commercialization of BCI products, and demonstrations of non-invasive BCIs allowing control of robotics. Recent years have seen continued progress toward more precise and invasive interfaces as well as two-way brain-computer communication.