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This paper presents results of the development of a socially assistive home robot companion for older people suffering from mild cognitive impairment (MCI) and living (alone) at home. This work was part of the European FP7 project “CompanionAble” (2008-2012)  which aimed at developing assistive technologies that can support these elderly and help them to remain in their familiar living environment for as long as possible. To overcome current market entry barriers, from the start we consistently adopted a user- and application-centered development process of the companion robot and focused on three main aspects: (i) the realization of a set of mandatory functionalities to support care recipients and caregivers, (ii) a strict design and usability driven realization to increase the acceptance of the robot by the different end-user groups (the elderly, their relatives, and caregivers), and (iii) the development and component selection considering production and operational costs. In continuation of the work presented in , this paper describes the final implementation of the companion robot and presents latest results of functional tests and early findings of user studies recently conducted in the smart house of the Dutch project partner Smart Homes in Eindhoven, The Netherlands.