One of the major risks of disability is a loss of autonomy that , in extreme, may lead to institutionalization. Lack of human resources for caregiving has led to designing robots to assist people in need. Assistive robotics are meant to help people cope with Activities of Daily Living (ADL). Most ADL are heavily affected by issues related to ambulation [
], so much effort in assistive robots has focused on robotic wheelchairs, rollators, walkers and even canes. These devices typically provide monitorization, physical support and help to cope with hazardous and/or complex situations. However, it is of key importance to provide just the right amount of help to people with disabilities. According to clinicians, an excess of assistance may lead to frustration and/or loss of residual skills. Lack of assistance, however, may lead to unacceptable risks and/or failure to accomplish the desired task. Hence, help must be adapted to each specific user.