<p>Robotic assistance offers the potential for both flexibility and support, but excessive assistance can lead to dependency and hinder learning. This study explored the impact of two assistance modalities—total assistance (TA) and hierarchical assistance (HA)—on the performance of older participants during three-dimensional shape reproduction tasks, as well as their self-esteem and feelings of technological competence. A multiple case study design was used, involving four participants aged 65 and above, who completed nine tasks under both assistance conditions. Performance was measured through execution times and micro-errors, while self-esteem and feelings of competence were assessed before and after the tasks using questionnaires. A qualitative debriefing provided insights into participants’ perceptions of the two assistance modalities. The results showed a significant reduction in execution time under the TA condition compared to HA. However, TA was associated with decreased feelings of competence and self-esteem, while HA promoted active learning, despite an increase in micro-errors. Debriefings showed that participants viewed TA as beneficial for collaboration but limiting to autonomy, whereas HA was perceived as enhancing performance and competence for some participants, but reducing efficiency and self-efficacy for others. These findings emphasize the importance of personalized approaches in the design of assistive technologies for older adults. The study offers valuable insights for the development of collaborative robot models, which can adjust the level of assistance to better support autonomy while avoiding over-accommodation. Future research should further explore the relationship between technology and user autonomy to optimize assistive interactions.</p>