A fully-implantable brain-computer interface cyber-physical system capable of acquiring and analyzing electrocorticogram ("ECoG") signals, recorded directly from the subdural space of the brain, to enable direct brain control of a prosthetic (e.g., a robotic gait exoskeleton or a functional electrical stimulation ("FES") system) is disclosed. The present system comprises a plurality of electrodes, for acquiring the ECoG signals, and a digital signal processor ("DSP") for deriving a plurality of real-time commands from the ECoG signals. These real-time commands may then be wireless!y transmitted to the prosthetic for execution. Further, to avoid wireless data transmission of the ECoG signals from the plurality of electrodes to the DSP, which would expose the brain, skull, and scalp tissue to potentially harmful radio frequencies, a subcutaneous tunneling cable operatively couples the plurality of electrodes and the DSP.