Toyota has revealed a series of healthcare robots, including one to help people with a paralysed leg walk.
The machines incorporate fast servos and sensors that detect posture and other subject attributes.
Two of them use technology spun out of the firms' two legged robot programme.
"Toyota considers 'partner robots' to be useful in four fields: nursing and healthcare, short-distance personal transport, manufacturing and domestic duties," said the firm.
Four robots were shown:
'Independent walk assist' (pictured) supports independent walking for people who have poor control over a leg.
Mounted on the leg, it provides support when the weight of the body should be supported by the knee, and helps the knee swing forward as the leg is brought forward.
The intention to walk is implied from a thigh-position control sensor and a foot load sensor.
'Walk training assist' is similar in that it fits to the leg, but it is intended to aid the development of unsupported natural walking while people are being trained to walk again.
It adjusts the body-weight support level according to the degree of recovery and monitors gait data such as joint angles to provide a visual interpretation of rehabilitation progress. 
'Balance training assist' is for people with impaired balance. The robot takes the form of a wheeled platform on which the subject stands, in front of a video game of tennis, soccer or basketball.
It provides balance training by moving the characters in the game in tandem with the way the subject shifts their weight front, back, left and right.
Active inverted-pendulum balancing assists them to stay upright.
'Patient transfer assist' reduces the physical burden required from carers when transferring a patient from bed to toilet and back using a combination of weight-supporting arms and a mobile platform.
"The arms are shaped to accommodate patients, and are equipped with control functions to provide gentle transport similar to being carried by a person," said the firm.
Of the other fields, the Toyota added: "Outside the nursing and healthcare field, verification tests on short-distance personal transport assistance robots are being performed at commercial centres and active use is being made of manufacturing assistance robots in automobile production. Development in the field of domestic duty assistance is also progressing."