The present invention provides a method of generating control signals for a brain-computer interface (BCI) apparatus to control operations of a robot arm device; and the BCI apparatus. The method comprises the following steps: measuring first brain waves and extracting abstract characteristics of the first brain waves; determining, based on the abstract characteristics of the first brain waves, one control mode from an arm extension control mode, a hand clenching/unclenching control mode, and a wrist rotation control mode; feeding the determined control mode back to a user; measuring an error-related displacement; if the error-related displacement exceeds a threshold value, re-extracting abstract characteristics of the first brain waves and re-determining a control mode, and if the error-related displacement does not exceed the threshold value, measuring second brain waves; applying, according to the determined control mode, mutually different extraction methods and mutually different classification methods to the second brain waves to extract a result value; and providing a control signal generated based on the result value to a robot arm device.;COPYRIGHT KIPO 2019
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