Virtual reality (VR) is immersive not only because of visual integration, but because we can act and perform in a virtual environment (VE). Beyond the mere fact that a VR system provides images computed directly from the users' viewpoint in stereoscopy, it can also provide a natural way to interact within the VE using the entire body. Full-body motion capture allows the user's movement to be mapped to a virtual body. Such a mapping may let users feel in control of (sense of agency), own (sense of body ownership) and locate themselves inside this virtual body (sense of self-location), thus leading them to feel embodied in this virtual body whenever these conditions are met (sense of embodiment (SoE)). Hence the integration of a full body avatar in VR is essential, as it brings even more; experiencing being someone else, train to recover mobility or having superhuman abilities. Most importantly, the avatar mediates the virtual nature of the VE to make it seamless for the user. Thus, this thesis focuses on helping the users execute complex movements in VR by applying a distortion to their movements. However, such a distortion is efficient only if users, when assisted, do not experience a break in embodiment (BiE), i.e., do not abruptly lose their sense of embodiment. Moreover, the way the virtual body is perceived is not consistent between users and some users might accept or reject a virtual body more easily than others. Therefore, this thesis explores how to prevent a BiE while distorting users' movement and adapting the VR experience to each individual. To this end, we designed a system combining brain-computer interface and machine learning to detect when users experience a BiE, compute users' preferences, and adapt the VR application's parameters. We first identified the user`s threshold for perceiving a movement distortion in some critical contexts, such as articular limits. We designed a new distortion to help users execute a complex movement. We introduced a method based on machine learning to find users' preferences when using our new distortion. We also established a link between the brain's error monitoring mechanism and the cognitive process of embodiment. This link exposed a new implicit EEG marker indicating when users experience a BiE. Finally, we designed a system to calibrate the distortion implicitly based on users' preferences with all these elements. This system first consists of detecting a BiE during a continuous movement thanks to state-of-the-art brain-computer interface algorithms. Our machine learning method then computes users' preferences, and the distortion is adapted dynamically. This original approach demonstrates the use of an implicit feedback loop to help users while preventing any BiE. Our framework opens an exciting perspective for personalized and self-adapting embodiment systems.