“…Specifically, a personal service robot is used to benefit humans or enhance human productivity [1]. There is a great diversity of service robots and several fields where they can be used, for example in health care, assistance to disabled, transportation, safety, and security, among others [2][3][4][5][6]. So far, service robots for personal use are employed mainly for domestic tasks (e.g., vacuum and floor cleaning, lawn-mowing), entertainment, leisure and handicap assistance.…”