This research project was supported in part by the Erasmus Mundus Joint Doctorate (EMJD) in Interactive and Cognitive Environments (ICE), which is funded by Erasmus Mundus under FPA no. 2010-2012. More information about this organization can be found on their website. The work was performed at two universities that provided research facilities and assistance for the duration of this project. The primary university was Eindhoven University of Technology (TU/e) located in Eindhoven, the Netherlands. The secondary university was Polytechnic University of Catalonia (UPC) located in Barcelona, Spain. In TU/e the project was carried out at the Designed Intelligence Group associated with the Department of Industrial Design. In UPC the research was conducted at the Technical Research Center for Dependency Care and Autonomous Living (CETpD).