PRIMI aims to increase the adoption of personal social robots by addressing their current lack of autonomy and adaptability to individual behaviors and environmental conditions. The project will establish design principles for robots with human-like cognition and motor performance, merging various methodologies to create biologically plausible innovations. These innovations will enhance robots' self-awareness, environmental understanding, and Theory of Mind, enabling them to interact effectively with humans and adapt to dynamic situations. PRIMI's research will lead to advanced, socially aware humanoid robots, demonstrated through proof-of-principle prototypes like the neuromorphic iCub and the Kangaroo. These prototypes, based on different platforms, will showcase the modular and flexible solutions developed by PRIMI, paving the way for future personal robotics services. Indeed, the research programme will culminate in an impact case study in a clinical environment, where robots will act as tutors for the physical rehabilitation of patients. Clinicians will instruct the robots on mental practice and motor actions to replicate, prompting patient responses. The robots will monitor and autonomously adapt interactions to the patient's level, closing the multidisciplinary loop by using the same principles of action observation and motor mental simulations for both learning and rehabilitation.