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Physical exercise has many physical, psychological and social health benefits leading to improved life quality. This paper presents a robotic system developed as a personal coach for older adults aiming to motivate older adults to participate in physical activities. The robot instructs the participants, demonstrates the exercises and provides real-time corrective and positive feedback according to the participant's performance as monitored by an RGB-D camera. Two robotic systems based on two different humanoid robots (Nao, toy-like and Poppy,
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