In this paper, a personalized home healthcare system with the ubiquitous knowledge-based framework is presented. This system aims to facilitate the in-person service of healthcare and mobility support. To this end, an efficient rule-based reasoning model and flexible knowledge rules are constructed for providing the necessary physiological support and medication treatment procedures. Among the utilized sensing and control technology, software modules, video camera sensors, communication devices, physiological sensors, and a robotic walking support platform are integrated in our system. The proposed system can offer high flexibility and further meet the demands in the practical healthcare support for different patients and caregivers by updating the knowledge rules in the inference mechanism. The various experimentations can demonstrate the system feasibility and interaction with users under numerous healthcare tasks, intelligent personalized services, remote healthcare and walking support and monitoring.