Preliminary Validation of a Modular Architecture for the Control of a Bimanual Assistive RoboticsSystem
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13755Keywords:
Rehabilitation engineering and healthcare delivery, Assistive technology and rehabilitation engineering, Robotics technology, Shared control, cooperation and level of automation, Human centered automationAbstract
Stroke represents one of the leading causes of chronic physical disability, leaving a large proportion of survivors with severe motor deficits in the upper limbs that limit their autonomy. Driven by the need to restore this functional independence, this study proposes the development and preliminary validation of a bimanual assistive robotic platform designed for activities of daily living, specifically liquid pouring and subsequent ingestion. The proposal integrates two arm and two hand exoskeletons, coordinated through a finite-state machine architecture. To leverage the user's residual capabilities, the system combines eye-tracking with a Brain-Computer Interface (BCI), allowing the user to maintain shared control over the system.
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Copyright (c) 2026 Esther Peral-Semepre, Yolanda Vales, Pablo Rubira Úbeda, David Martínez Pascual, José María Catalán, Nicolás García Aracil
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
