Fig. 2

Three worlds to conciliate. In an enactive view of cognition, the brain is not seen in isolation but in systemic inter-relation with the external world and with internal states. This leads to the specification of two facets of the body. The extended body interacts with the external environment through exteroception (proprioception and perception) and through external responses. The internal body feels internal states by interoception and can trigger internal responses. Altogether, this defines the sensory and motor information flows of a brain + body system, acting and learning in the external environment to satisfy some needs, expressed as internal states