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Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. The MOBOT project aims at supporting mobility and thus enforcing fitness and vitality by developing intelligent active mobility assistance robots for indoor environments that provide user-centred, context-adaptive and natural support. Our driving concept envisions cognitive robotic assistants that act (a) proactively by realizing an autonomous and context-specific monitoring of human activities and by subsequently reasoning on meaningful user behavioural patterns, as well as (b) adaptively and interactively, by analysing multi-sensory and physiological signals related to gait and postural stability, and by performing adaptive compliance control for optimal physical support and active fall prevention.