Abstract: A brain machine interface for decoding neural signals for control of a machine is provided. The brain machine interface estimates and then combines information from two classes of neural activity. A first estimator decodes movement plan information from neural signals representing plan activity. In one embodiment the first estimator includes an adaptive point-process filter or a maximum likelihood filter. A second estimator decodes peri-movement information from neural signals representing peri-movement activity. Each estimator is designed to estimate different aspects of movement such as movement goal variables or movement execution variables.