We developed a human in loop integration system for our wheelchair mounted robotic arm, with a brain machine interface utilized as the interacting device in an attempt to enable the aid for users with limited motion ability in activity of daily livings. In order to enable a reliable use of the brain machine interface, operation status of the manipulator are defined, an intelligent supportive module is also exploited, which utilizes neuronal signals dentification result and also face expression to generate an binarized command code input, that are then used to drive the transition between operation status of the manipulator. The corresponding motion control action will be executed due to the transition of operation status.