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Since the aging population is increasingly affecting the society, not only aging problem become an important social issue but also health care will become an important issue. In order to compensate for the shortages of nurses and reduce the stress of nursing work, numerous research groups are studying in the field of human-robot interaction and hoping to bring a better life to humankind. Many companion robots were developed to assist elderly people's mental health and promote their independence. In this paper, we describe a personal service robot developed for assisting a user in his/her daily life. This healthcare system equipped with the capability for navigation by visual information and friendly human-robot interface. We can tele-operate healthcare service system via the Internet. This healthcare system improves quality of healthcare and increased hospital throughput.