Providing healthcare services to patients and elderly people has been an emerging application domain in ubiquitous computing technologies. The current trend toward long-term healthcare is accessing healthcare services in the ubiquitous environment instead of in care centers, hospitals or convalescent homes. The Web Service Event-Condition-Action (WS-ECA) rule management system is designed to enable the heterogeneous communication devices in ubiquitous computing environments to achieve inter-operability via event-driven coordination. This paper presents developing a WS-ECA rule management system for a healthcare robot to provide ubiquitous healthcare services for elderly people.