This project deals with technical assistance for persons of reduced mobility. We propose to study the technical, psychological and clinical impact of an original approach which consists of mounting a prehensile arm on to a mobile base. The use of this mobile unit in relation to patient's wheelchair is carried out on a master-slave basis. This study therefore has a pluridisciplinary nature: Science for the Engineer (Science Pour l'Ingénieur, known as “SPI”), Human and Social Science (Science Humaine et Sociale known as “SHS”) and Clinical. We will present a short synthesis of the various points which were approached during the three years of research on the above-mentioned project.