The document explores the impact of a stroke on balance and the body's self-organization in response to muscle weakness and paralysis. It discusses how the brain prioritizes the safety of balance by shifting control to the non-paretic side while attempting to unload the paretic side, ultimately leading to adaptations that prevent effective use of the affected limb. It emphasizes the importance of aligning therapeutic approaches with the brain's self-organized mechanisms to restore balance and control over the center of mass.