We have proposed research on communication design with a remote-controlled robot as enacting media in care by creating a new system that allows anyone to participate in care practice anywhere and anytime through the Internet. Setting “beyond the dichotomy of autonomy and dependency” as the research concept and regarding relationality as equivalent to dependency/interdependency and communication, we investigate whether this innovative approach to communication can empower older adults to regain and maintain their autonomy. In designing relationality and communication, we propose to postulate the relational self rather than the individualistic self and the middle voice perspective rather than the active-passive voice perspective.