I'm a free market person and I believe if the government tried to legislate this, it would screw it up. Rather it should try to open the way for the private industry to create AI based health care solutions.
I'd also like to see character based communities with minimal basic income. Ie, your economic output is not relevant, but rather your character. How kind you are to others, how passionate you are about your talents, how independent you are about looking after yourself. I think this is the real solution to poverty in a world of increased automation.
I know some people want UBI without strings attached, but my feeling is that without some kind of purpose (even a non economic one) mental health issues will increase.