Cody the sponge bath robot is the latest from Georgia Tech’s Healthcare Robotics Lab.
(Cody sponge bath robot and human volunteer)
Cody is composed of a Segway RMP 50 Omni mobile base, 1-DoF vertical linear actuator, and a pair of 7-DoF Meka Arms with series elastic actuators (the same as Simon). This mobile manipulator has shown some pretty impressive capabilities. It can open doors, drawers, and cabinets using equilibrium point controllers developed by Advait Jain and Prof. Charlie Kemp. It also has a nice direct physical interface (touching interface) to reposition the robot that was developed by Tiffany Chen and Prof. Charlie Kemp. Much of the code controlling this robot is open-source and has ROS (Robot Operating System) interfaces.
(Cody healthcare robot diagram)
In Roujin Z, a 1991 anime by Katsuhiro Otomo, Japan explores the use of robotic systems that provide complete care to the elderly; don't miss the exciting patient bath sequence. Take a look at this brief trailer for the film, showing the Roujin-Z hospital bed/robot: