RAMCIP develops a novel domestic service robot, with the aim to proactively and discreetly assist older persons, MCI and AD patients in their every day life. Instead of simply being an obedient servant, the RAMCIP robot has high-level cognitive functions, driven through advanced human activity and home environment modelling and monitoring, enabling it to optimally decide when and how to assist. The robot provides subtle physical and cognitive user skills training, by maintaining an optimal balance between physical assistance provision and user stimulation to act. The cognitive functions orchestrate an ensemble of advanced lower-level mechanisms, enabling the robot to (a) communicate with the user and (b) establish dexterous and safe robotic manipulations. Communication is based on multimodal interfaces, adapted and fused so as to meet the current user needs and interaction context. Apart from touchscreen, speech and gestural modalities, RAMCIP incorporates an augmented reality display, as well as an underlying empathic communication channel, allowing it to sense user affect and moderate it. In the context of robotic manipulations, RAMCIP introduces advanced dexterity in service robots for assisted living environments; the robot employs a sophisticated hand, manipulated though novel grasping and dexterity algorithms, being capable to grasp and manipulate a variety of objects in realistic user homes, supporting also safe handover. Through multi-faceted proactive assistance enabled through the above, RAMCIP aims to advance user independency and quality of life of its user. The robot is evaluated in two pilot sites, deployed in two countries, Poland and Spain; in the Barcelona pilot site, the RAMCIP robot is tested in twelve different real end user homes.