 Even the definition of the body schema, which appears the less controversial notion, often remains vague. The term ‘body schema’ functions as a general term that groups together various body representations intervening at different stages in motor control, representing short-term or long-term body properties, used for positive or negative affordances. It is commonly defined as the representation of the body for action. But many states can contribute to action planning, including some very high-level states. Imagine for instance that you want to cut a cake into six equal slices. To do so, you can exploit your mathematical knowledge that 360 degrees divided by 6 equals 60 degrees. This knowledge can guide your hand while splitting the cake. Your ability to do maths can thus play a role in guiding your action, but clearly, the body schema must be more intimately connected to action. What makes the body schema so special? The type of information that it represents? The way this information is represented? Or the function of the representation? Furthermore, the distinction between the body schema and the body image has become the stock in trade of much recent work in cognitive neuroscience and philosophy. Yet little is known about the interactions between these two types of body representations (Gadsby 2018; Pitron, Alsmith, &amp; Vignemont 2018). In our everyday life the body we perceive does not conflict with the body we act with. One needs to account not only for dissociations in rare cases, but also for convergence most of the time.