Limb state feedback is of great importance for achieving stable and adaptive control of FES neuroprostheses. A natural way to determine limb state is to measure and decode the activity of primary afferent neurons in the limb. The feasibility of doing so has been demonstrated by [1] and [2]. Despite positive results, some drawbacks in these works are associated with the application of reverse regression techniques for decoding the afferent neuronal signals. Decoding methods that are based on direct regression are now favored over reverse regression for decoding neural responses in higher regions in the central nervous system [3]. In this paper, we apply a direct regression approach to decode the movement of the hind limb of a cat from a population of primary afferent neurons. We show that this approach is more principled, more efficient, and more generalizable than reverse regression.