  Care robotics as a research field has developed a lot in recent years, driven
by the rapidly increasing need for it. However, these technologies are mostly
limited to a very concrete and usually relatively simple use case. The bimanual
robot House of Living Labs intelligent Escort (HoLLiE) includes an
omnidirectional mobile platform. This paper presents how HoLLiE is adapted, by
flexible software and hardware modules, for different care applications. The
design goal of HoLLiE was to be human-like but abstract enough to ensure a high
level of acceptance, which is very advantageous for its use in hospitals. After
a short retrospect of previous generations of HoLLiE, it is highlighted how the
current version is equipped with a variety of additional sensors and actuators
to allow a wide range of possible applications. Then, the software stack of
HoLLiE is depicted, with the focus on navigation and force sensitive intention
recognition.
