One of the biggest challenges faced by older adults is the risk of falling. Falls and the fear of falling cause serious physical and mental health issues. They are also a very impacting factor on the independence of the individual. This paper approaches the problem through the view of a population afflicted by the self-neglect syndrome. Therefore, we propose the NAOREA system, using monocular cameras, various ambient sensors and a humanoid social robot, to manage the risk of falling through a step-by-step process. This system achieved up to 100% detection rates of obstacles for proactive fall control in a real-home setting, as well as a 87% detection rates of falls after they happened.