The present invention relates to a neuromodulation/neurostimulation system (100) for restoring a motor function of the upper and/or lower limbs and facilitating neurological recovery in a patient (P) with spinal cord injury (SCI) and/or other neurological disorders, said system (100) comprising: a processing unit (10), which is configured and adapted provide stimulation commands; an implantable or external stimulation unit (12), which is configured and adapted to deliver neuromodulation therapy, in particular epidural electrical stimulation (EES) to the dorsal roots of the spinal cord (SC) of said patient (P); at least one implantable or external pulse generator (14), operatively connected to the stimulation unit (12); an implantable neurosensor (16) including electronic components that are configured and adapted to detect electrocorticographic (ECoG) signals from the sensorimotor cortex (C) of said patient (P), denoting a motor intention of said patient (P), wherein the processing unit (10), the stimulation unit (12) and the implantable neurosensor (16) are operatively connected to define a brain-spinal interface (BSI), and wherein the processing unit (10) is configured and adapted to: collect and decode, preferably in real-time, the ECoG signals from the sensorimotor cortex (C) into a corresponding motor intention of said patient (P); converting, preferably in real-time, the decoded motor intentions into corresponding stimulation commands, and forwarding, preferably in real-time, the stimulation command to the at least one pulse generator (14).