Decoding of sensorimotor information is essential for brain-computer interfaces (BCIs) as well as in normal functioning organisms. In this study, Bayesian models were developed for the prediction of binary decisions of 10 awake freely-moving male/female rats based on neural activity in a vibrotactile yes/no detection task. The vibrotactile stimuli were 40-Hz sinusoidal displacements (amplitude: 200 µm, duration: 0.5 s) applied on the glabrous skin. The task was to depress the right lever for stimulus detection and left lever for stimulus-off condition. Spike activity was recorded from 16-channel microwire arrays implanted in the hindlimb representation of primary somatosensory cortex (S1), overlapping also with the associated representation in the primary motor cortex (M1). Single-/multi-unit average spike rate (R) within the stimulus analysis window was used as the predictor of the stimulus state and the behavioral response at each trial based on a Bayesian network model. Due to high neural and psychophysical response variability for each rat and also across subjects, mean R was not correlated with hit and false alarm rates. Despite the fluctuations in the neural data, the Bayesian model for each rat generated moderately good accuracy (0.60-0.90) and good class prediction scores (recall, precision, F1) and was also tested with subsets of data (e.g. regular vs. fast spike groups). It was generally observed that the models were better for rats with lower psychophysical performance (lower sensitivity index A'). This suggests that Bayesian inference and similar machine learning techniques may be especially helpful during the training phase of BCIs or for rehabilitation with neuroprostheses.