“…This work builds on previous research conducted with the RGS, a VR-based tool that promotes functional recovery post-stroke through goal-oriented embodied sensorimotor stimulation. A number of studies suggest the effectivity of RGS protocols for overcoming upper limb motor deficits (Cameirão et al, 2012 da Silva Cameirão et al, 2011; Ballester et al, 2016, 2015, 2017). These protocols rest on principles that are derived from the Distributed Adaptive Control theory of mind and brain (Verschure, 2012), which places recovery in the context of the acquisition and expression of goal-oriented voluntary behavior driven by perception, memory, value and goals and the optimization of perceptual and behavioral prediction.…”