Brain-computer interfaces (BCIs) aim at providing a non-muscular channel for sending commands to the external world using the electroencephalographic activity or other electrophysiological measures of the brain function. An essential factor in the successful operation of BCI systems is the methods used to process the brain signals. In the BCI literature, however, there is no comprehensive review of the signal processing techniques used. This work presents the first such comprehensive survey of all BCI designs using electrical signal recordings published prior to January 2006. Detailed results from this survey are presented and discussed. The following key research questions are addressed: (1) what are the key signal processing components of a BCI, (2) what signal processing algorithms have been used in BCIs and (3) which signal processing techniques have received more attention?