Advancements in technologies that can record and stimulate deep-brain activity in humans have led to impactful discoveries within the field of neuroscience and contributed to the development of novel therapies for neurological and psychiatric disorders. Further progress, however, has been hindered by device limitations in that recording of single-neuron activity during freely-moving behaviors in humans has not been possible. Additionally, implantable neurostimulation devices, currently approved for human use, have limited stimulation programmability and lack full-duplex bi-directional capability. Here, we report a wearable bi-directional closed-loop neuromodulation system (Neuro-stack) that allows for the recording of single-neuron and local field potential activity during ambulatory behavior in humans. Together with a highly flexible and customizable stimulation capability, the Neuro-stack provides an opportunity to develop improved responsive neuromodulation therapies, investigation of brain function during naturalistic behaviors in humans, and consequently, the bridging of decades of neuroscientific findings across species.