Goal-directed behavior requires a translation of our choices into actions through muscle contractions. Research in cognitive psychology and neuroscience has focused on the decision-making process during the past fifty years, but the articulation between decision and motor systems remains poorly understood. Progressing on this issue is important for several reasons. From a decision neuroscience perspective, it is unclear whether the motor system simply executes our choices or actively contributes to deliberation. From a motor neuroscience perspective, understanding movements requires an understanding of neural inputs to muscles and upstream processes that determine them. Finally, several psychiatric and neurological disorders appear to affect both decision and motor systems , as suggested by apathy and impulse control disorders, psychomotor retardation symptoms, and paradoxical movements, among others. A precise understanding of these alterations and the development of efficient therapeutic strategies requires an integrated theory of decision and motor processes. The development of such a theory constitutes the overarching aim of the present research project.