Abstract: The exemplary embodiments of the method, system and arrangement according to the present invention enables an estimation of reaching movements. For example, using the exemplary embodiments of the present invention, it is possible to derive a Bayesian-optimal discrete time state equation to support real-time filters that incorporate observations about the target position and arm trajectory. The exemplary embodiments of the present invention may be compatible with any filtering method, such as point process or Kalman filters, and any recording methods, such as multielectrode arrays, intracortical EEG, or eye trackers.