Many countries around the world are facing an increasingly serious aging problem. The elderly make up an increasing proportion of the total population. However, the number of doctors and nurses cannot meet this demand. Many hospitals and nursing homes are overcrowded and lack staff, so many elderly people, are not cared for. In order to solve this problem, in recent years, researchers have begun to develop some autonomous machines tailored to assistance to weak or non-self-sufficient subjects. These robots can greatly relieve the work pressure of medical staff. Since the end of 2019, the Covid-19 virus has been spreading around the world, which has highlighted the importance of automated care devices.