This work presents a brain computer interface (BCI) framework for upper limb rehabilitation of post stroke patients, combining BCI and virtual reality (VR) technology; a VR feedback is shown to the participants to achieve a greater activation of certain brain regions involved with the performing of upper limb motor task. This system uses an adaptive neuro-fuzzy inference system (ANFIS) classifier to discriminate between a motor task and rest condition, the first one classifies between extension and rest conditions; and the second one classifies between flexion and rest conditions. In the training stage, eight healthy subjects participated in the sessions, the best accuracies are 99.3% and 88.9%, as a result of cross-validation. Meanwhile, the best accuracy in online test is 89%. The methodology here presented can be straightforwardly employed as a rehabilitation system for brain repair in individuals with neurological diseases or brain injury. © 2017 IEEE.