In Chapter 3 we established that affordance has its roots in direct perception, which seems to fit best with the theories of embodiment that the phenomenologists have developed, rather than those from cognitive psychology. In Chapters 4–6, we looked at mediated perception in relation to semiotics, which specializes in theorizing about how signification takes place and how meanings are attributed to signs. What we have not done yet is to establish the relationship between embodied knowing, signification and representational cognition that have emerged from our initial explorations of these key areas. The way to start this is to consider the foundations of these approaches in order to establish a firm footing for bringing some of these ideas together.