Table 1.

Model decision variables.

Decision Variable	Description
xij	1 if Robot/Caregiver j ∈ J is assigned to Elderly i ∈ I, 0 otherwise
yi	1 if Elderly is considered i ∈ I, 0 otherwise
zj	1 if Caregiver is considered j ∈ J, 0 otherwise
uj	1 if Robot is considered j ∈ J, 0 otherwise