I would hope so. I am not against a sub-quest showing a companion how power armor is used. Though some would find it over complicated.
It would be very nice if they can equip armors that make sense for them, but most of all I just hope that the NPCs will use Stim Packs if they have them and need to - that more than anything annoyed me about NPC behavior in Fo3, they would simply refuse to save themselves.
You can view New Vegas'companion wheel http://fallout.wikia.com/wiki/Companion_wheel. If you notice right under the highlighted command be passive is a picture showing Vault boy with a stimpak inserted into his left arm.
Further http://www.youtube.com/watch?v=iOqnNrFzymY reveals it is a "Use Stimpak" command. Quoted from the linked video - "If your in combat and you need to give your guy health, you can run right up to him and hit the companion wheel and give him a couple of stimpaks." - I am fairly certain what he means. Is you can use the "Open Inventory" command and give them stimpaks and have them use them by issuing the "Use Stimpak" command. It will still be on you to make sure they stay healed but at least it is more simple.
I am a very immersion oriented player and I hate pausing in combat for any reason including VATS. I would have preferred an automatic use command I could have set at a % of health. As it sounds now, we will have to keep a careful eye on our companions health which can also be seen under the "Use Stimpak" command. Maybe someone will create a notification mod which alerts you to when your companion is badly hurt. I usually don't pay much attention to them during combat like I do the enemy.