###### Abstract  
Individuals with reduced mobility, including the growing elderly demographic and those with spinal cord injuries, often face significant challenges in daily activities, leading to a dependence on assistance. To enhance their independence, we propose a robotic system that facilitates greater autonomy. Our approach involves a functional assistive robotic implementation for picking, placing, and delivering containers using the TIAGo mobile manipulator robot. We developed software and routines for detecting containers marked with an ArUco code and manipulating them using the MoveIt library. Subsequently, the robot navigates to specific points of interest within a room to deliver the container to the user or another designated location. This assistance task is commanded through a user interface based on a web application that can be accessed from the personal phones of patients. The functionality of the system was validated through testing. Additionally, a series of user trials were conducted, yielding positive feedback on the performance and the demonstration. Insights gained from user feedback will be incorporated into future improvements to the system. automons robotic systems; assistive technology and rehabilitation engineering; robot manipulator robot; mobile robot; perception and sensing +
Footnote †: journal: Medical  
interaction with the user natural and sociable so that the robot is perceived positively and pleases the user. It is crucial for user acceptance that individuals feel at ease and comfortable interacting with the robot, thus enabling its intended functionality [8]. Conversely, if the user is reluctant to interact with the robot, its effectiveness may be hindered [9]. Assistive Robotics has also been developed to assist individuals with reduced mobility aiming at the goal of increasing independence and self-sufficiency. Prostheses and exoskeletons have been developed [10; 11; 12; 13] to provide strength assistance for movement or manipulation, and are widely used in the medical field of rehabilitation. Additionally, other robotic systems are being developed. For example, some propose the use of manipulator robots to assist users in object manipulation tasks [14; 15; 16; 17], while others use mobile robots to serve people as autonomous transport or walking guides in various environments [18; 19; 20; 21; 22]. However, the potential of using mobile manipulator robots appears to be broader than that of other types of robots, as they can both manipulate and navigate. Users can remotely operate these platforms, enabling the completion of necessary tasks. These platforms can be teleoperated by the user to realize the needed tasks. For instance, the teleoperation of a robotic arm can be achieved by implementing an application interface [23], through human gestures [24], or a 3D controller [25]. On the other hand, autonomous use of these devices promises a more useful form of assistance, although it also presents several challenges. The primary challenges [26] arise from the dynamic and unpredictable nature of the environment, the lack of expertise among users, the well-defined and adaptable tasks, and the necessity to ensure the safety and integrity of users and their belongings. With this aim, some have proposed a multi-functional autonomous platform with a friendly appearance [27], leveraging artificial intelligence, a flexible decision engine, and autonomous navigation. This platform is designed to be completely safe, featuring collision detection and a soft artificial leather covering. Others suggest a multi-robot approach [28] involving a sensorized environment, a mobile social robot, and a mobile dual-manipulator robot that collaborates to assist, accompany, and serve elderly individuals in their homes in an autonomous manner. In this context, we propose an approach to assist people with reduced mobility using the TIAGo robot. The robotic system implemented can navigate around a domestic or healthcare setting and perform picking up, placing, or delivering containers for objects to the user.