Bioengineering is a field of interdisciplinary research between engineering and medicine resulting from a growing human, social and economic interest. Automatica in particular, with its aspects of perception, modeling, control, monitoring, action and interaction, among others, provides important insights and tools to overcome problems related to diagnosis and monitoring of diseases, to special functional needs and also with different applied treatments. This tutorial presents aspects related to the state of the art and recent advances in the following areas: Interfaces for interaction and communication of people with disabilities, rehabilitation robotics and functional compensation, and systems to improve clinical therapy.