Stroke survivors suffering from cognitive deficits experience difficulty completing their daily self-care activities. The latter are referred to as activities of daily living (ADL). The resulting loss of independence makes them rely on caregivers to help them go through their daily routine. However, such reliance on caregivers may conflict with their need for privacy and willingness to keep a control over their life. A possible solution to tackle this issue is the development of an assistive or rehabilitation system.