Today, health care has become one of the very potential businesses. The world population is becoming old, and many people are highly concerned about their welfare. It is very important to give a thoughtful consideration to the handicapped and the elderly. Nevertheless, the research about helping those people are currently limited to the enhancement of residential or welfare equipment such as the wheelchair, intelligent bed, assistance robot system for the handicapped, etc. Therefore, it is necessary to help the handicapped and the elderly to be a more productive member of the society in addition to being independent of care-givers.Further, it will help them to live not as burdens to the society but with self-confidence as those who can contribute to the society. The main goal of this research area is to design and develop really portable assistive robotic devices able to be transported easily by the user in his daily trip from house to office, providing the assistance in both environments. In this way it's possible to dock the MATS to the wheelchair, and once in the office undock automatically the robot and start to use in the adapted office environment.