A theory is proposed that views emotional feelings as pivotal for action control. Feelings of emotions are valued interoceptive signals from the body that become multimodally integrated with perceptual contents from registered and mentally simulated events. During the simulation of a perceptual change from one event to the next, a conative feeling signal is created that codes for the wanting of a specific perceptual change. A wanted perceptual change is weighted more strongly than alternatives, increasing its activation level on the (...) cognitive level and that of associated motor structures that produced this perceptual change in the past. As a consequence, a tendency for action is generated that is directed at the production of the wanted perception. (shrink)