Apparatus and associated software and methods for improving medication adherence. A connected medication dispenser includes a robotic arm adapted to deliver a prescribed medication dose to a patient in their home, and software and sensors that analyze the patient's compliance, communicate with external health sensors to monitor the patient's response to the dose, and communicate with external servers to send the result of providing the medication dose to the patient. In an illustrative example, the patient may be a chronic, acute, or terminal illness patient, and the results may be communicated with physicians, payers, caregivers, a pharmacy, and/or the patient's electronic health record. The flow of information may allow the physician or caregiver to offer real-time adjustments to the medication type, dose, and schedule to provide improved therapeutic outcomes.