{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T05:43:12Z","timestamp":1782366192158,"version":"3.54.5"},"reference-count":169,"publisher":"Annual Reviews","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Annu. Rev. Control Robot. Auton. Syst."],"published-print":{"date-parts":[[2021,5,3]]},"abstract":"<jats:p> Brain\u2013machine interfaces (BMIs) promise to restore movement and communication in people with paralysis and ultimately allow the human brain to interact seamlessly with external devices, paving the way for a new wave of medical and consumer technology. However, neural activity can adapt and change over time, presenting a substantial challenge for reliable BMI implementation. Large-scale recordings in animal studies now allow us to study how behavioral information is distributed in multiple brain areas, and state-of-the-art interfaces now incorporate models of the brain as a feedback controller. Ongoing research aims to understand the impact of neural plasticity on BMIs and find ways to leverage learning while accommodating unexpected changes in the neural code. We review the current state of experimental and clinical BMI research, focusing on what we know about the neural code, methods for optimizing decoders for closed-loop control, and emerging strategies for addressing neural plasticity. <\/jats:p>","DOI":"10.1146\/annurev-control-061720-012348","type":"journal-article","created":{"date-parts":[[2021,1,29]],"date-time":"2021-01-29T21:00:56Z","timestamp":1611954056000},"page":"167-189","source":"Crossref","is-referenced-by-count":32,"title":["Brain\u2013Machine Interfaces: Closed-Loop Control in an Adaptive System"],"prefix":"10.1146","volume":"4","author":[{"given":"Ethan","family":"Sorrell","sequence":"first","affiliation":[{"name":"Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, United Kingdom;"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael E.","family":"Rule","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, United Kingdom;"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Timothy","family":"O'Leary","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, United Kingdom;"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"22","reference":[{"key":"B1","doi-asserted-by":"publisher","DOI":"10.1038\/nature04970"},{"key":"B2","doi-asserted-by":"publisher","DOI":"10.1038\/nature11076"},{"key":"B3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914561535"},{"key":"B4","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/12\/1\/016011"},{"key":"B5","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-016-0134-9"},{"key":"B6","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0204566"},{"key":"B7","doi-asserted-by":"crossref","unstructured":"Willett FR, Avansino DT, Hochberg LR, Henderson JM, Shenoy KV. 2020. High-performance brain-to-text communication via imagined handwriting. bioRxiv 2020.07.01.183384. https:\/\/doi.org\/10.1101\/2020.07.01.183384","DOI":"10.1101\/2020.07.01.183384"},{"key":"B8","doi-asserted-by":"publisher","DOI":"10.1126\/science.163.3870.955"},{"key":"B9","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.18554"},{"key":"B10","doi-asserted-by":"publisher","DOI":"10.1038\/nature24636"},{"key":"B11","doi-asserted-by":"publisher","DOI":"10.1126\/science.3749885"},{"key":"B12","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4415-07.2008"},{"key":"B13","doi-asserted-by":"publisher","DOI":"10.1038\/nm.3953"},{"key":"B14","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00587.2002"},{"key":"B15","doi-asserted-by":"publisher","DOI":"10.1186\/s42234-019-0019-x"},{"key":"B16","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.3570-06.2007"},{"key":"B17","doi-asserted-by":"publisher","DOI":"10.1093\/cercor\/bhy060"},{"key":"B18","first-page":"125","volume-title":"Progress in Motor Control, Vol. 3: Effects of Age, Disorder, and Rehabilitation","author":"Todorov E","year":"2003"},{"key":"B19","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2005.1616286"},{"key":"B20","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.1574-15.2015"},{"key":"B21","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/4\/3\/018"},{"key":"B22","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/12\/3\/036009"},{"key":"B23","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2017.01.016"},{"key":"B24","doi-asserted-by":"publisher","DOI":"10.1038\/nature04968"},{"key":"B25","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570392"},{"key":"B26","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuropsychologia.2005.10.011"},{"key":"B27","doi-asserted-by":"publisher","DOI":"10.1016\/j.nlm.2008.09.015"},{"key":"B28","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2019.01.029"},{"key":"B29","doi-asserted-by":"publisher","DOI":"10.1038\/nature10918"},{"key":"B30","doi-asserted-by":"publisher","DOI":"10.1038\/386167a0"},{"key":"B31","doi-asserted-by":"publisher","DOI":"10.3389\/fnint.2016.00035"},{"key":"B32","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-018-37302-2"},{"key":"B33","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.3077-16.2017"},{"key":"B34","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2013.01.027"},{"key":"B35","doi-asserted-by":"crossref","unstructured":"Clancy KB, Mrsic-Flogel TD. 2019. The sensory representation of causally controlled objects. bioRxiv 786467. https:\/\/doi.org\/10.1101\/786467","DOI":"10.1101\/786467"},{"key":"B36","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaa5417"},{"key":"B37","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-012-3377-0"},{"key":"B38","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1006822"},{"key":"B39","doi-asserted-by":"publisher","DOI":"10.1162\/neco_a_01281"},{"key":"B40","doi-asserted-by":"publisher","DOI":"10.1016\/0006-8993(71)90358-1"},{"key":"B41","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.17086"},{"key":"B42","doi-asserted-by":"publisher","DOI":"10.1016\/j.nbd.2019.03.015"},{"key":"B43","doi-asserted-by":"crossref","unstructured":"Patel KV, Katz CN, Kalia SK, Popovic MR, Valiante TA. 2020. Volitional control of individual neurons in the human brain. bioRxiv 2020.05.05.079038. https:\/\/doi.org\/10.1101\/2020.05.05.079038","DOI":"10.1101\/2020.05.05.079038"},{"key":"B44","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2018.11.002"},{"key":"B45","doi-asserted-by":"publisher","DOI":"10.2196\/16194"},{"key":"B46","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.aay4682"},{"key":"B47","doi-asserted-by":"crossref","unstructured":"Simeral JD, Hosman T, Saab J, Flesher SN, Vilela M, et al. 2019. Home use of a wireless intracortical brain-computer interface by individuals with tetraplegia. medRxiv 2019.12.27.19015727. https:\/\/doi.org\/10.1101\/2019.12.27.19015727","DOI":"10.1101\/2019.12.27.19015727"},{"key":"B48","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/10\/3\/036004"},{"key":"B49","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aab7a0"},{"key":"B50","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00293.2014"},{"key":"B51","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/12\/1\/016009"},{"key":"B52","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.2339-15.2016"},{"key":"B53","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2016.2612001"},{"key":"B54","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00493.2017"},{"key":"B55","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/9\/4\/046006"},{"key":"B56","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-020-0591-0"},{"key":"B57","doi-asserted-by":"crossref","unstructured":"Pachitariu M, Stringer C, Dipoppa M, Schr\u00f6der S, Rossi LF, et al. 2017. Suite2p: beyond 10,000 neurons with standard two-photon microscopy. bioRxiv 061507. https:\/\/doi.org\/10.1101\/061507","DOI":"10.1101\/061507"},{"key":"B58","doi-asserted-by":"publisher","DOI":"10.1038\/nature12354"},{"key":"B59","doi-asserted-by":"publisher","DOI":"10.1038\/nn.3712"},{"key":"B60","doi-asserted-by":"publisher","DOI":"10.1109\/NER.2019.8717107"},{"key":"B61","doi-asserted-by":"crossref","unstructured":"Trautmann EM, O'Shea DJ, Sun X, Marshel JH, Crow A, et al. 2019. Dendritic calcium signals in rhesus macaque motor cortex drive an optical brain-computer interface. bioRxiv 780486. https:\/\/doi.org\/10.1101\/780486","DOI":"10.1101\/780486"},{"key":"B62","doi-asserted-by":"crossref","unstructured":"Bollimunta A, Santacruz SR, Eaton RW, Xu PS, Morrison JH, et al. 2020. Head-mounted microendoscopic calcium imaging in dorsal premotor cortex of behaving rhesus macaque. bioRxiv 2020.04.10.996116. https:\/\/doi.org\/10.1101\/2020.04.10.996116","DOI":"10.1101\/2020.04.10.996116"},{"key":"B63","first-page":"1467","volume":"100","author":"Kleinlogel S","year":"2020","journal-title":"Physiol. Rev."},{"key":"B64","doi-asserted-by":"publisher","DOI":"10.1038\/nature06996"},{"key":"B65","doi-asserted-by":"publisher","DOI":"10.1038\/nature11129"},{"key":"B66","doi-asserted-by":"publisher","DOI":"10.1038\/s41593-019-0555-4"},{"key":"B67","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-019-12724-2"},{"key":"B68","doi-asserted-by":"publisher","DOI":"10.1177\/1545968314554624"},{"key":"B69","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/5\/4\/010"},{"key":"B70","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2010.2092443"},{"key":"B71","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-07647-3"},{"key":"B72","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2016.00587"},{"key":"B73","doi-asserted-by":"publisher","DOI":"10.1162\/neco_a_01129"},{"key":"B74","doi-asserted-by":"publisher","DOI":"10.1162\/neco_a_01275"},{"key":"B75","doi-asserted-by":"publisher","DOI":"10.1109\/NER.2019.8717140"},{"key":"B76","doi-asserted-by":"publisher","DOI":"10.1162\/neco_a_01189"},{"key":"B77","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/9\/2\/026027"},{"key":"B78","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2018.00450"},{"key":"B79","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-020-58097-1"},{"key":"B80","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01245.2003"},{"key":"B81","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-019-44166-7"},{"key":"B82","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2009.05.005"},{"key":"B83","doi-asserted-by":"publisher","DOI":"10.1007\/s10827-009-0196-9"},{"key":"B84","doi-asserted-by":"publisher","DOI":"10.1126\/science.1070291"},{"key":"B85","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2014.2309673"},{"key":"B86","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms13825"},{"key":"B87","doi-asserted-by":"publisher","DOI":"10.1038\/nn.3265"},{"key":"B88","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2017.2783358"},{"key":"B89","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.aac7328"},{"key":"B90","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/14\/1\/016001"},{"key":"B91","doi-asserted-by":"publisher","DOI":"10.1038\/nn1309"},{"key":"B92","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1004730"},{"key":"B93","doi-asserted-by":"publisher","DOI":"10.3389\/fnsys.2015.00071"},{"key":"B94","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00394"},{"key":"B95","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/11\/4\/046025"},{"key":"B96","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/ab5cf3"},{"key":"B97","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aae748"},{"key":"B98","doi-asserted-by":"publisher","DOI":"10.1016\/j.cell.2020.03.054"},{"key":"B99","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2017.01.023"},{"key":"B100","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aabb80"},{"key":"B101","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00792.2014"},{"key":"B102","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.31034"},{"key":"B103","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2516590"},{"key":"B104","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/8\/2\/025017"},{"key":"B105","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2018.01.051"},{"key":"B106","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00373.2013"},{"key":"B107","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00466.2018"},{"key":"B108","doi-asserted-by":"crossref","unstructured":"You AK, Liu B, Singhal A, Gowda S, Moorman H, et al. 2020. Flexible modulation of neural variance facilitates neuroprosthetic skill learning. bioRxiv 817346. https:\/\/doi.org\/10.1101\/817346","DOI":"10.1101\/817346"},{"key":"B109","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1007118"},{"key":"B110","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.0000042"},{"key":"B111","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1221127110"},{"key":"B112","doi-asserted-by":"publisher","DOI":"10.1038\/nature13665"},{"key":"B113","doi-asserted-by":"crossref","unstructured":"Feulner B, Clopath C. 2020. Neural manifold under plasticity in a goal driven learning behaviour. bioRxiv 2020.02.21.959163. https:\/\/doi.org\/10.1101\/2020.02.21.959163","DOI":"10.1101\/2020.02.21.959163"},{"key":"B114","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2019.02.012"},{"key":"B115","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-017-4997-1"},{"key":"B116","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2018.09.030"},{"key":"B117","doi-asserted-by":"publisher","DOI":"10.1038\/s41593-018-0095-3"},{"key":"B118","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1820296116"},{"key":"B119","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.1000153"},{"key":"B120","doi-asserted-by":"publisher","DOI":"10.1109\/NER.2019.8717068"},{"key":"B121","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0808113105"},{"key":"B122","doi-asserted-by":"publisher","DOI":"10.1162\/neco_a_01076"},{"key":"B123","doi-asserted-by":"publisher","DOI":"10.1016\/j.nbd.2015.05.001"},{"key":"B124","doi-asserted-by":"publisher","DOI":"10.1016\/j.cell.2017.07.021"},{"key":"B125","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.12247"},{"key":"B126","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.27702"},{"key":"B127","doi-asserted-by":"publisher","DOI":"10.1016\/j.conb.2019.08.005"},{"key":"B128","doi-asserted-by":"publisher","DOI":"10.1109\/NER.2019.8717010"},{"key":"B129","doi-asserted-by":"publisher","DOI":"10.1038\/nn.2797"},{"key":"B130","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2019.2944347"},{"key":"B131","doi-asserted-by":"crossref","unstructured":"Lalazar H, Murray J, Abbott L, Vaadia E. 2019. Population subspaces reflect movement intention for arm and brain-machine interface control. bioRxiv 688259. https:\/\/doi.org\/10.1101\/688259","DOI":"10.1101\/688259"},{"key":"B132","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.2772-05.2005"},{"key":"B133","doi-asserted-by":"publisher","DOI":"10.1038\/ncomms13749"},{"key":"B134","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.51121"},{"key":"B135","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2014.04.048"},{"key":"B136","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00632"},{"key":"B137","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1004288"},{"key":"B138","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0087253"},{"key":"B139","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aaa8a4"},{"key":"B140","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aa9ee7"},{"key":"B141","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2019.01046"},{"key":"B142","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2015.2470527"},{"key":"B143","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-017-0169-7"},{"key":"B144","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-017-06029-x"},{"key":"B145","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-020-0542-9"},{"key":"B146","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2019.05.003"},{"key":"B147","first-page":"868","volume-title":"Advances in Neural Information Processing Systems 30","author":"Milstein DJ","year":"2017"},{"key":"B148","first-page":"2182843","volume":"2017","author":"Li H","year":"2017","journal-title":"Behav. Neurol."},{"key":"B149","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0059049"},{"key":"B150","doi-asserted-by":"publisher","DOI":"10.1109\/NER.2019.8717020"},{"key":"B151","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aa8dc1"},{"key":"B152","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aa7329"},{"key":"B153","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2017.05.023"},{"key":"B154","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1703668114"},{"key":"B155","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2018.00579"},{"key":"B156","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-017-17222-3"},{"key":"B157","doi-asserted-by":"crossref","unstructured":"Schroeder KE, Perkins SM, Wang Q, Churchland MM. 2020. Neural control of virtual ego-motion enabled by an opportunistic decoding strategy. bioRxiv 2019.12.13.862532. https:\/\/doi.org\/10.1101\/2019.12.13.862532","DOI":"10.1101\/2019.12.13.862532"},{"key":"B158","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2020.02.018"},{"key":"B159","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-018-06560-z"},{"key":"B160","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2017.2709756"},{"key":"B161","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2016.7591012"},{"key":"B162","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/13\/1\/016009"},{"key":"B163","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2560\/10\/2\/026010"},{"key":"B164","doi-asserted-by":"publisher","DOI":"10.1080\/2326263X.2019.1709260"},{"key":"B165","doi-asserted-by":"crossref","unstructured":"Gilron R, Little S, Perrone R, Wilt R, de Hemptinne C, et al. 2020. Chronic wireless streaming of invasive neural recordings at home for circuit discovery and adaptive stimulation. bioRxiv 2020.02.13.948349. https:\/\/doi.org\/10.1101\/2020.02.13.948349","DOI":"10.1101\/2020.02.13.948349"},{"key":"B166","doi-asserted-by":"publisher","DOI":"10.1093\/neuros\/nyaa026"},{"key":"B167","doi-asserted-by":"crossref","unstructured":"Wilson GH, Stavisky SD, Willett FR, Avansino DT, Kelemen JN, et al. 2020. Decoding spoken English phonemes from intracortical electrode arrays in dorsal precentral gyrus. bioRxiv 2020.06.30.180935. https:\/\/doi.org\/10.1101\/2020.06.30.180935","DOI":"10.1101\/2020.06.30.180935"},{"key":"B168","doi-asserted-by":"publisher","DOI":"10.1038\/s41592-018-0183-z"},{"key":"B169","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2017.11.035"}],"container-title":["Annual Review of Control, Robotics, and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.annualreviews.org\/doi\/pdf\/10.1146\/annurev-control-061720-012348","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,8]],"date-time":"2021-10-08T10:27:28Z","timestamp":1633688848000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.annualreviews.org\/doi\/10.1146\/annurev-control-061720-012348"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,3]]},"references-count":169,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,5,3]]}},"alternative-id":["10.1146\/annurev-control-061720-012348"],"URL":"https:\/\/doi.org\/10.1146\/annurev-control-061720-012348","relation":{},"ISSN":["2573-5144","2573-5144"],"issn-type":[{"value":"2573-5144","type":"print"},{"value":"2573-5144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,3]]}}}