“…Radar sensors were used for detecting standing/sitting while showering [ 49 ], entering the bathtub [ 49 , 50 ] and sitting on/leaving toilet [ 51 ]. IMU sensors were attached to the water pipe for detecting washing and bathing [ 52 ], on the robot for detecting dressing [ 46 ], and in the soap bar for hand washing [ 37 ]. Multiple environmental sensors were combined for detecting bathing/showering [ 34 , 36 , 40 , 53 , 54 , 55 , 56 , 57 , 58 , 59 ], toileting [ 34 , 36 , 38 , 40 , 41 , 55 , 56 , 57 , 58 , 60 , 61 , 62 , 63 , 64 , 65 , 66 , 67 , 68 , 69 , 70 ], dressing [ 45 , 58 , 71 , 72 ], general personal hygiene activity [ 54 , 61 ], washing hands [ 36 , 37 , 38 ], washing face [ 36 ] and grooming [ 58 , 70 ].…”