I think the first to use such home robots will have is people who can do the tasks but simply don't want to be bothered.
The aged, infirm and disabled are going to need real people for company and to deal with any crises the infirm might have. And since the real people will be there and paid for anyway, the state is unlikely to pay for robots as a quality of life improvement (they'd pay for them if they removed the caregiver but that complete removal will science fiction for a while).
As an example, I work taking care of a partly paralyzed man. He's tried an exoskeleton, believes it would help him a lot but can't afford the many thousands of dollars it would cost. The state pays for 18-hours/day care which is tens of thousands of dollars a month but they have to pay that.
The aged, infirm and disabled are going to need real people for company and to deal with any crises the infirm might have. And since the real people will be there and paid for anyway, the state is unlikely to pay for robots as a quality of life improvement (they'd pay for them if they removed the caregiver but that complete removal will science fiction for a while).
As an example, I work taking care of a partly paralyzed man. He's tried an exoskeleton, believes it would help him a lot but can't afford the many thousands of dollars it would cost. The state pays for 18-hours/day care which is tens of thousands of dollars a month but they have to pay that.