This paper surveys the exploration of the shared autonomy concept on the context of assistive technologies, in particular using an Intelligent Tutoring Ser vice to support the performance of activities of daily living while reinforcing a person's intrinsic abilities and relieving caregivers from full time assistance. The key feature of this tutoring system is its capability to adapt the service to the user's medical profile and his/her environmental context. We present the obtained outcomes while designing and testing the service on diverse scenarios with real elder volunteers having different disability profiles.