In the field of assistive robotics, the expected impact is enormous, not only from an economic point of view, but also from a social one: on the one hand, hospitals are not able to meet the needs of accompanying patients in the hospital with their current staff, and assistive robots of this type could cover these needs, thus improving the efficiency of hospital services. On the other hand, patients would be more accompanied and less dependent, thus reducing the feeling of loneliness and improving their well-being during hospital stays or at home.