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We live in a world in which technology embraces us, makes our lives easier and more enjoyable. Although we all benefit from this emerging technology, certain groups of people need more help and support then others: elderly or disable people. For them technology means a way of having an almost normal life. So we focused our attention on an age old concept: the smart house [1], more precisely a personal assistant robot that is a part of the smart house paradigm. This robot is mainly designed for this group of people as its main purpose is to offer assistance to an elderly or disabled person [2].