An autonomous robot system that is able to provide real time health monitoring and simple medical services is realized in this design. The system applies multiple sensors to monitor ordinary healthcare parameters, which is then transmitted via ZigBee network. In case of emergency, real time medicine delivery service is provided by the robot, applying a novel Received Signal Strength (RSS) based location method in ZigBee network. The system combines healthcare monitoring, data transmission and real time location into several portable wireless nodes, with the advantage of cost effectiveness, low power and easiness for configuration. Field tests under indoor environment have proved the stability and practicability of this design.