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This paper reviews a new approach in the area of rehabilitation robotics. The service robot MATS helps disable and elderly people in their day life activities in common living environment like kitchen, bathroom, bedroom, etc. In this way the quality of life of the important part of population improves toward their social integration. This new prototype has new abilities like climb from one wall to another or from the table to the wheelchair, and at the same time to be attached and move with the wheelchair. The robot is totally autonomous and needs only power supply to be operated. This paper presents the distributed software architecture and the concept design of the HMI which handles the robotic system.