This thesis is part of the project ’RAISE - Robotics and AI for Socio-economic Empowerment’ (ECS00000035), funded by the NextGenerationEU initiative and the Ministry of University and Research (MUR), under the National Recovery and Resilience Plan (NRRP), Mission 4, Component 2, Investment 1.5. The project aims to develop intelligent devices and technologies for telemonitoring frail individuals in collaboration with the Italian Institute of Technology and the Geriatric Hospital E.O. Galliera. With increasing life expectancy and declining birth rates, the ageing population faces a rise in age-related diseases affecting motor skills and autonomy. A key approach for assessing frailty in geriatric patients is the Comprehensive Geriatric Assessment, using multidimensional evaluation indices as the Multidimensional Prognostic Index (MPI) to evaluate the individual’s clinical condition.