Rethinking Brain-Computer Interfaces for Soft Robotic Systems: A Unified Framework and Perspective

Soft robotics enables inherently safe, compliant interaction, yet integrating brain-computer interfaces (BCIs) remains hindered by a fundamental mismatch: BCIs typically output low-bandwidth, discrete commands, whereas soft robots possess high-dimensional, nonlinear dynamics. In this position paper, we argue that BCI-soft robot integration must move beyond direct decoder-to-actuator mapping. We propose a unified, application-oriented compatibility framework that structurally decouples hierarchical control and formally allocates authority between human neural input and local soft robotic autonomy. Crucially, we introduce verifiable, quantitative design principles that define integration as a matching problem across neural bandwidth, update frequency, latency tolerance, and control dimensionality. Through these testable hypotheses, we demonstrate that active, reactive, and passive BCIs serve distinct, complementary roles. We conclude that shared-control strategies-where the BCI provides high-level intent, target selection, or user-state feedback, while the soft robot manages low-level physical execution and interaction-offer the most practical pathway forward. We argue that future progress depends on the co-design of paradigm, decoding, control, and embodiment for neuro-adaptive and human-centred soft robotic systems.