This study explores tool embodiment, where tools are seamlessly integrated into one’s body schema. A robotic tail controlled via electromyography (EMG) from arm movements is being developed. The aim is to understand how the brain adapts to embody this artificial body part and investigate the underlying neural processes. Participants wear an electroencephalography(EEG) cap, EMGsensors, the robotic tail, and stand-on foot pressure sensors. They repeatedly move their arm, triggering tail motions. After an initial period, tail control accuracy reduces to 70%, creating a sensorimotor mismatch between expected and actual motion. The hypothesis is this mismatch induces neural adaptation, analyzed through EEG and event-related desynchronization (ERD). Increased alpha power during reduced accuracy is expected, suggesting heightened attentional demands and sensorimotor integration as adaptation occurs. Combining neural, muscular, and kinetic data elucidates mechanisms of motor control and adaptation to novel tools like the robotic tail.