An artificial neurostimulation system for providing volitional control of a target by a user , the system comprising: at least one set of electrodes configured to measure neural activity of a brain of a user; a target configured to receive an electrical signal; and an electronic data processing device programmed to perform operations including: extracting at least one feature from a first measurement of brain neural activity of the user acquired using the at least one set of electrodes; determining a desired movement of the target by feeding the at least one extracted feature to a decoder to identify whether a particular movement is desired and determining a level of movement effort by the user by sending the at least one extracted feature to a movement effort decoder to determine the level of movement effort by the user ; forming an electrical signal to be delivered to the target using both the determined desired movement and the determined level of movement effort by the user; delivering the electrical signal to the target to start the desired movement of the target; based on a second measurement of brain neural activity of the user acquired using the at least one set of electrodes or based on the movement of the target, maintaining or changing the electrical signal being delivered to the target as the target moves, so that the desired movement is achieved. at least one set of electrodes configured to measure neural activity of a brain of a user; a target configured to receive an electrical signal; and an electronic data processing device programmed to perform operations including: extracting at least one feature from a first measurement of brain neural activity of the user acquired using the at least one set of electrodes; determining a desired movement of the target by feeding the at least one extracted feature to a decoder to identify whether a particular movement is desired and determining a level of movement effort by the user by sending the at least one extracted feature to a movement effort decoder to determine the level of movement effort by the user ; forming an electrical signal to be delivered to the target using both the determined desired movement and the determined level of movement effort by the user; delivering the electrical signal to the target to start the desired movement of the target; based on a second measurement of brain neural activity of the user acquired using the at least one set of electrodes or based on the movement of the target, maintaining or changing the electrical signal being delivered to the target as the target moves, so that the desired movement is achieved. extracting at least one feature from a first measurement of brain neural activity of the user acquired using the at least one set of electrodes; determining a desired movement of the target by feeding the at least one extracted feature to a decoder to identify whether a particular movement is desired and determining a level of movement effort by the user by sending the at least one extracted feature to a movement effort decoder to determine the level of movement effort by the user ; forming an electrical signal to be delivered to the target using both the determined desired movement and the determined level of movement effort by the user; delivering the electrical signal to the target to start the desired movement of the target; based on a second measurement of brain neural activity of the user acquired using the at least one set of electrodes or based on the movement of the target, maintaining or changing the electrical signal being delivered to the target as the target moves, so that the desired movement is achieved. <EOS>