The assistance of disabled, elderly and persons with special needs become to be one of the most important service applications of the robotic systems in the near future. Humans care and service demands an innovative robotic solution to make easier the day-life of these people in home, workplace and institutional care environments. In this way the quality of life of the important part of population improves toward their social integration. 

            During the last years the rehabilitation technology is developing towards more flexible and adaptable robotic systems. These robots aim at supporting disable and elderly people with special needs in their home environment. Furthermore, most advanced countries are becoming to be aging societies, and the percentage of people with special needs is already significant and due to grow. There have been very interesting developments in this field, such as Paro (K. Wada, 2002), a robot which provide psychological and social effects to human beings, or Dexter (L. Zollo,2001) and RAID (G. Bolmsjo, 1995), which are mounted on a wheelchair and helps in welfare tasks to the disable people. Another interesting robots is Handy 1 (Topping, 2002) and MANUS (Kwee, 1997). These systems are a commercially available robotic system capable of assisting the most severely disabled people in self-feeding, and personal hygiene tasks. 

            Along this road, the MATS robot is a robotic system that can climb the different planes of the environment (wall, table, bath,...) in order to perform numerous personal care and service applications such as kitchen plates and cup manipulation, toothbrush and toothpaste coordinated manipulation in the bathroom and entertainment games in the living room.