With the rapid aging of population and the increasing number of disabled elderly individuals, there is a growing demand for elderly care services, creating a significant market for service-oriented robots. This study investigates the use of robot pose-mapping teleoperation technology in remote homecare and telemedicine applications. A homecare robot prototype, featuring a dual-arm collaborative robot (YuMi) and an omnidirectional mobile chassis, is designed to assist elderly individuals with tasks such as retrieving medicine and delivering items within the home. The robot's teleoperation system is based on operator motion capture, enabling intuitive control and efficient task execution. Additionally, the study explores the application of this technology in healthcare, particularly during the COVID-19 pandemic, by demonstrating its use in isolation wards to reduce healthcare workers’ exposure to patients. The teleoperated robot can perform essential tasks such as food delivery, disinfection, and remote consultations with healthcare professionals. The findings show that the proposed robot system not only enhances efficiency in elderly care but also offers a practical solution to reduce the risks associated with direct contact between healthcare workers and patients. The research highlights the potential of pose-mapping teleoperation to revolutionize homecare and telemedicine, improving both safety and operational efficiency.