**4. Conclusions**

In this paper, a modular robotic platform to provide assistance to moderately and severely impaired people in performing daily activities and participating in society was presented. The main innovation of our robotic platform was its modularity, which allows customizing the platform (hardware and software components) for the needs of each potential user. We presented the results of an experiment with a subject suffering from multiple sclerosis. In the experiment, the subject had to carry out different tasks in a simulated scenario while being observed by a a group of clinicians composed of nurses, doctors, and occupational therapists. After that, the subject and the clinicians replied to a usability questionnaire. These results showed a high degree of usability of the system, although there were also several areas for improvement. These aspects were taken into account to improve the new version of the device, thus trying to reduce the users' perception of the complexity of the system.

**Author Contributions:** J.M.C., A.B., A.B.-M. and J.V.G.-P. designed and developed the platform. J.M.C. and A.B. worked on the construction of the experimental setup. A.B.-M. and J.V.G.-P. performed the experiments. J.M.C. analyzed the data. J.M.C., A.B. and A.B.-M. drafted the paper. J.V.G.-P. deeply revised the manuscript. N.G.-A., M.A. and R.P. contributed to the design of the the robotic platform and the experiment and deeply revised the manuscript. All the authors checked and approved the final submitted version of the manuscript. All authors read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the AIDE project through Grant Agreement No. 645322 of the European Commission, by the Conselleria d'Educacio, Cultura i Esport of Generalitat Valenciana, by the European Social Fund—Investing in your future, through the grant ACIF 2018/214, and by the Promoción de empleo joven e implantación de garantía juvenil en I+D+I 2018 through the grant PEJ2018-002670-A.

**Institutional Review Board Statement:** The study was conducted according to the guidelines of the Declaration of Helsinki and approved by the Ethics Committee of Miguel Hernandez University (2017.32.E.OEP).

**Informed Consent Statement:** Informed consent was obtained from all subjects involved in the study.

**Conflicts of Interest:** The authors declare no conflict of interest. The funder institutions had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; nor in the decision to publish the results.
