Predict trajectory of hand based on 3D coordinates

Hi all, I'm looking into a way to predict the trajectory of a hand that is grabbing towards an object in Python. I already have 3D coordinates of all joints of the hand (I'm using a Charuco board and stereo vision and thus everything is calibrated, beside that I'm using a pose estimation algorithm). I'm basically just looking into an efficient way to **predict or estimate where the hand will be at frame 'x' in the future based on the 3D coordinates of the x number of previous frames**. Which method would you recommend me for this? I'm sure there has to be an 'easy way' of doing this. I already took a look into Kalman filtering, Meanshift and CamShift, but I'm not sure if these are appropriate techniques. Thanks a lot! Jérémy