In order to understand how the inner voice works, you need to understand how human thought translates into action. “Whenever we do any action, our brain makes a prediction of the sensory consequences of that action,” says Loevenbruck. Say you want to fetch a glass of water. “Your brain sends the appropriate motor signals to your hand, but it also generates a sensory prediction of the command,” she says. “Before you’ve even picked up the glass, your brain has made a prediction of what the motor command will do, which means you can correct for mistakes before you make an error.