Many older adults with long-term mobility disabilities, particularly those who use wheelchairs, face challenges performing everyday self-care tasks such as bathing and grooming. Technology has potential to support these individuals in performing these fundamental and highly personal activities as independently as possible. However, we need a detailed understanding of user needs and preferences. We are conducting an in-depth investigation of barriers and facilitators to self-care activities among people aging with mobility disabilities to develop design requirements for innovative self-care technologies. Specifically, this work will inform the design of the TechSAge D3 soft robotic shower head (SoRoSH). We will also evaluate the feasibility of the SoRoSH prototype to ensure it meets our target population’s specific requirements for comfort, usability, and safety. Long-term, we hope findings can promote user-centered technology innovation for bathing and self-care that can enhance the autonomy and quality of life for people aging with mobility disabilities.