His research activities include assistive robotics, robot adaptation, human-robot interactions and grasping of deformables. We spoke about some of the projects he is involved in and his plans for future work. The SOCRATES project is about quality of interaction between robots and users, and our role is focussed on adapting the robot behaviour to user needs. We have concentrated on a very nice use case: cognitive training of mild dementia patients. We are working with a day-care facility in Barcelona and asked if we could provide some technological help for the caregiver.