When Husserl discussed the phenomenology of willing, he concluded that the sole theoretical foundation of the intentionality of consciousness is insufficient to account for voluntary acts as they do not primarily represent their content as given entities, but instead create the willed during their performance. Nonetheless, Husserl did not suspend the theoretical foundation of intentionality, meaning that the theoretical concept of objectual intentionality juxtaposes a practical concept of performative intentionality. Recent results from the field of robot-assisted gait rehabilitation provided experimental (...) findings that may clarify this relationship, to the effect that the foundational structure of consciousness builds upon a heterarchical model of objectual and performative intentionality. A combination of phenomenological interview results, neural motor control, the functional design of the robot, and clinical data qualifies gait initiation as a non-objectifying act that creates its intentional object (i.e., the willed movement). In sum, the experimental findings support Husserl’s proposal of a genuine practical or performative intentionality that points to a heterarchical understanding of the relationship between representational and performative foundations of action consciousness. (shrink)