This contribution focuses its objective in describing the design and implementation of an innovative system to provide cognitive rehabilitation. People who will take advantage of this platform suffer from a post-stroke disease called Apraxia and Action Disorganisation Syndrome (AADS). The platform has been integrated at Universidad Politécnica de Madrid and tries to reduce the stay in hospital or rehabilitation center by supporting self-rehabilitation at home. So, the system acts as an intelligent machine that guides patients while executing Activities of Daily Living (ADL), Journal of Accessibility and Design for All (CC) JACCES, 2014 - 4(3): 238-254. ISSN: 2013-7087 J. M. Cogollor, M. Pastorino, J. Rojo, A. Fioravanti, A. Wing, M. T. Arredondo, M. Ferre, J. Breñosa, J. Hermsdörfer, J. De Teresa, C. Walton, A. Worthington, C. Giachritsis  239 such as preparing a simple tea, by informing them about the errors committed and possible actions to correct them. A short introduction to other works related to stroke, patients to work with, how the system works and how it is implemented are provided in the document. Finally, some relevant information from experiment made with healthy people for technical validation is also shown.