This video demonstrates some use cases of the assistive technologies developed in the ACCOMPANY project within a realistic home care setting. The resident, Mrs. Taylor, is living alone with the assistance of a robot in a smart environment. The video showcases how Mrs. Taylor utilizes her companion robot for entertainment, cognitive and social assistance as well as a physical support for retrieving or transporting items. A strong focus has been put on having the robot interact in an empathic and socially acceptable way whilst facilitating re-ablement by encouraging Mrs. Taylor to stay active. Thus the robot provides motivational support rather that acting as a mere servant.