Older adults with long-term mobility disabilities, and particularly those who use wheelchairs, may face challenges with bathing. Maintaining hygiene is essential for independent living and bathing is a highly personal activity that many people want to do as independently as possible. Recent advancements have shown the potential of assistive robots for customized bathing; however, their high costs make them impractical for many. This project aims to develop a soft robotic handheld shower (SoRoSH) to address these challenges affordably and accessibly. The SoRoSH will be iteratively designed based on stakeholder input to ensure it meets users’ needs. We will establish design specifications, construct the system to address technical challenges, optimize a camera-based control system, and validate the prototype with our target population. Over five years, we aim to refine and test a fully functional prototype, that ultimately could facilitate independent bathing and enhance the confidence and quality of life for people aging with mobility disabilities.