Meeting the needs of the elderly presents important technical challenges. In this research, a system concept for a robotic aid to provide mobility assistance and monitoring for the elderly and its enabling technologies are being developed. The system, called PAMM (personal aid for mobility and monitoring), is intended to assist the elderly living independently or in senior assisted living facilities. It provides physical support and guidance, and it monitors the user's basic vital signs. An experimental test-bed used to evaluate the PAMM technology is described. This test-bed has a cane based configuration with a nonholonomic drive. Preliminary field trials at an Eldercare Facility are presented.