Referred by Frank at The Robot Report
Here is a fine video that describes an easy to program, easy to use industrial arm. Not quite the same as service robots, but it has some elements that are applicable to service robots.
"Tom and Michael, two stressed workers of an SME, dream of a robot helping them in their daily routine. One idea inspires the next ... until they come up to novel work environments and new and different types of robots, which will be explored in the project."