We are studing and developing robotics fundamental and application technology for home rehabilitation and care support. It is necessary to detect the intention and states of the target persons of home rehabilitation and care support (target persons in the following paragraphs) for their ADL, noninvasively, without any constraint to them, and support them to their needs and intention, while respecting their autonomy (indepedency) the most. Moreover, the safety during the support is also a critical issue. To meet the requirements, we are developing mobile sesing technology, in which multiple non-contact sensors are equiped on a mobile robot to capture the information of the target persons, and the interface technology to use the sensor information to anlyze for detection of the intention and states for their ADL . Furthermore, the soft actuators that could support the target persons in a safe way with inherent viscoelasticity, even in the home environment. The concept validation, and prototyping of the key technologies have been finished. We are cooperating with the rehablitation, and care facilities to perform preliminary evaluation and verification. Based on the feedback from the rehabilitation and care practice, the key technologies will be further improved in both accuracy and safety, and further integrated.