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The goal of our interdisciplinary research is to develop an interface for older people to effectively communicate with a robotic assistant so that they can safely remain living in their home. We are devising a multimodal interface since people communicate with one another using a variety of verbal and non-verbal signals, including haptics, i.e. physical interactions. We view physical interaction as an integral component of communication, which in some cases drives the interaction between the user and the robot, and we study its relation to speech and gestures. We are mainly focused on Activities of Daily Living (ADLs) like getting up from a bed or chair, ambulating in the apartment, and preparing a meal. The photograph shows a helper performing ADL while wearing a data glove. The data glove is developed in the UIC Robotics Laboratory to study physical interaction between the elderly and the helper. For the glove, pressure sensors are attached to each segment of each finger and palm, while an inertia measurement unit captures overall hand motion. The glove is connected to a processor box, which transmits the data wirelessly to the PC.