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Background As the older adult population increases there is a great need of developing smart healthcare technologies to assist older adults. Robot-based homecare systems are a promising solution to achieving this goal. This study aims to summarize the recent research in homecare robots, understand user needs and identify the future research directions. Methods First, we present an overview of the state-of-the-art in homecare robots, including the design and functions of our previously developed ASCC Companion Robot (ASCCBot). Second, we conducted a user study to understand the stakeholders’ opinions and needs regarding homecare robots. Finally, we proposed the future research directions in this research area in response to the existing problems. Results Our user study shows that most of the interviewees emphasized the importance of medication reminder and fall detection functions. The stakeholders also emphasized the functions to enhance the connection between older adults and their families and friends, as well as the functions to improve the efficiency and productivity of the caregivers. We also identified three major future directions in this research area: human-machine interface, learning and adaptation, and privacy protection. Conclusions The user study discovered some new useful functions that the stakeholders want to have and also validated the developed functions of the ASCCBot. The three major future directions in the homecare robot research area were identified.