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So what kind of little helper robots should be used in StarFleet/UFP?

Kamen Rider Blade

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We see more little assistant robots in ST: Discovery S2 with Jet Reno.

Those were a nice set of multi-purpose robots.

Michelle Yeoh had little attack robots next to her. I felt like I was watching Phantasy Star Online 2 when I saw her whip those little robots out.

We have the old Exo-Comps.

What other types of Robots should be part of day to day life in StarFleet / UFP?

Assuming they aren't fully sentient like Data, but pretty close without crossing that line.
 
None of them, maybe United Earth tried to automate a lot of things, delegate a lot of things, but faced the Kzin who hacked them readily with subspace radio hacking and thus Starfleet doesn't trust robots, and even has a eye on their computers, all the time; and the other powers found out this lesson the hard way as well in their histories, thus why robots and automatons are relatively rare. ;)
 
None of them, maybe United Earth tried to automate a lot of things, delegate a lot of things, but faced the Kzin who hacked them readily with subspace radio hacking and thus Starfleet doesn't trust robots, and even has a eye on their computers, all the time; and the other powers found out this lesson the hard way as well in their histories, thus why robots and automatons are relatively rare. ;)
Maybe in your Head Canon/Universe, not mine.
 
I seem to remember a repair robot that was down in the engineering deck that was broken, explaining Spock’s sacrifice in the TWOK novel. I think of it as looking tall and thin, like Crichton, but with no head, all arms.
 
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