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We have previously developed an implanted neuroprosthesis that uses functional electrical stimulation (FES) to activate the paralyzed muscles of the shoulder, arm, and hand in a coordinated manner to restore arm and hand function, and successfully deployed this system in three people with severe paralysis. We have more recently developed and deployed a FES system for the arm and hand that is controlled by the used via an intracortical brain-computer interface (BCI) to allow a user to direct the actions of their FES-restored arm and hand movements in an effective and intuitive manner.  This presentation will describe the unique control requirements for a FES-controlled arm, the development of a 192-electrode intracortical BCI to provide this control, the deployment of the combined BCI-controlled FES system in one participant, and the lessons learned to date.