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A mirror function seems to play a central part in the social cognition of primates. This function could be a reflecting characteristic of certain brain structures (mirror neurons) or a characteristic of the postural activity (H. Wallon). These two points of view are argued and confronted one to another. Indeed, in both cases, this motor system characteristic could make the understanding of others and their intentions possible as well as the imitation and the sharing of emotions. Besides, autism could be explained by a disturbance in the development of this mirror function or by a disfunctioning of various motor representations.