Validación Preliminar de una Arquitectura Modular para el Control de un Sistema de Asistencia Robótico Bimanual

Abstract

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.