Activities of Daily Living Recommendation for a Bimanual Exoskeleton using an Edge Computing-based VLM
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13747Keywords:
Assistive technology and rehabilitation engineering, Intelligent robotics, Intelligent Interfaces, Shared control, cooperation and level of automation, Work in real and virtual environmentsAbstract
Assistive robotics has established itself as a vital solution for supporting users with motor impairments in performing Activities of Daily Living (ADLs). In this context, the use of bimanual upper-limb exoskeletons presents a promising option for helping people with motor impairments perform ADLs. However, using these devices can be complex for the user, so intuitive interaction methods must be designed to facilitate easy use. This paper presents an ADL recommendation system based on a Vision Language Model (VLM). The model runs locally, describes the objects in the scene, and recommends different ADLs based on the objects in the scene and the capabilities of the robotic system.
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Copyright (c) 2026 David Martínez-Pascual, Asier Reig-Lozano, Esther Peral-Sempere, Pablo Rubira-Úbeda, José M. Catalán, Nicolás García-Aracil
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
