*Article* **A Modular Mobile Robotic Platform to Assist People with Different Degrees of Disability**

**Jose M. Catalan 1,\*, Andrea Blanco 1,\*, Arturo Bertomeu-Motos 2,\*, Jose V. Garcia-Perez 1, Miguel Almonacid 3, Rafael Puerto <sup>1</sup> and Nicolas Garcia-Aracil <sup>1</sup>**


**Abstract:** Robotics to support elderly people in living independently and to assist disabled people in carrying out the activities of daily living independently have demonstrated good results. Basically, there are two approaches: one of them is based on mobile robot assistants, such as Care-O-bot, PR2, and Tiago, among others; the other one is the use of an external robotic arm or a robotic exoskeleton fixed or mounted on a wheelchair. In this paper, a modular mobile robotic platform to assist moderately and severely impaired people based on an upper limb robotic exoskeleton mounted on a robotized wheel chair is presented. This mobile robotic platform can be customized for each user's needs by exploiting its modularity. Finally, experimental results in a simulated home environment with a living room and a kitchen area, in order to simulate the interaction of the user with different elements of a home, are presented. In this experiment, a subject suffering from multiple sclerosis performed different activities of daily living (ADLs) using the platform in front of a group of clinicians composed of nurses, doctors, and occupational therapists. After that, the subject and the clinicians replied to a usability questionnaire. The results were quite good, but two key factors arose that need to be improved: the complexity and the cumbersome aspect of the platform.

**Keywords:** assistive robotics; multimodal interfaces; robotic exoskeleton
