Years ago I worked in a startup also trying to develop such robots, to care for both disabled and elderly people. We were too early, but alas.

The complaint this would increase loneliness was often heard, mostly by the human caretakers employed by the care homes we were testing in.

Especially the younger disabled people did not have much issue with the robots: they hoped to get a way to be more independent. Friends & family enough to not be lonely anyways. And sometimes you just want to get a drink, grab a dropped pen or go to the bathroom without needing to push a button and wait for someone to come help you.

IIRC, this held true for the elderly as well, to a lesser extent. Ideally, robot clear up time from menial, mechanical labor to offer more social interaction to avoid loneliness. This is far off though and our world is far from ideal...