The group of robotic assistance systems develops intelligent solutions which assist persons in daily activities by using robotic technologies and human-robot-interaction concepts. The first step is to identify the level of support the situation requires. Based on this information assistance should be delivered where, how and to which degree it is needed just in time. The main technological challenges are to correctly identify the situation and the environment; recognition of activities and cooperation strategies up to the planning of motion; and single trajectories of robotic systems. Especially in the context of out-patient care the support and relief of care staff can be an important factor to enhance the quality of the overall care process.