The invention relates to a system for motor rehabilitation of a paretic limb (102, 103) of a 5 patient (100) comprising: - a first plurality of sensors (10) couplable to pre-established positions of a head (101) of the patient (100) for registering brain neurosignals of the patient (100); - a body-actuator (30, 40) couplable to, at least, the paretic limb (102, 103); - a hybrid brain machine interface (200) for decoding brain neurosignals into 10 movements of the body-actuator (30,40); The system further comprises: - a second plurality of EMG sensors (20) couplable to the paretic limb (102, 103) for registering its EMG activity; - means for providing the patient (100) with instructions relative to a series of 15 exercises and/or tasks to be carried out with the paretic limb (102, 103); and in that upon carrying out a series of training sessions, each session comprising at least a set of such instructions, the hybrid brain machine interface (200) is configured to switch between controlling the movements of the body-actuator (30, 40) based on the decoded brain neurosignals and a hybrid control of the movements of the body-actuator 20 (30, 40), when a significant level of decodable EMG activity has been registered, the hybrid control being an EMG-gated brain control. The invention also relates to a method for motor rehabilitation of the paretic limb (102, 103).