Abstract: A method of generating a touch signal corresponding to a state of a subject, the method including, receiving, from a foot of the subject, multiple wavelength signals corresponding to an applied plantar pressure based on the state of the subject. The method further includes receiving, using channels of a BCI mounted on the subject's head, a plurality of EEG signals (brain signals) that corresponds with wavelength signals. The method further includes transmitting EEG signals to train a classifier to identify a correlation between EEG signals and wavelength signals. The method further includes selecting a subsection of channels with high correlation with wavelength signals. The method further includes forming a secondary dataset by combining the subsection of channels with wavelength signals. The secondary dataset is passed to train a ML model to generate the touch signal corresponding to the subject's state that is relayed to a lower limb prosthesis.