The benefit of service robot includes many aspects, for example, to the elderly or handicapped people, to the caregivers and to the facilities for the facilities. In this paper, we focus on the description of benefits for the elderly or handicapped people. However there are still various aspects as the benefit as “what kind of function the robot can provide,” “who can use / who should not use the robot,” “when and where the robot can work.” In order to achieve such description, we propose to use the international classification of functioning, disability and health (ICF) approved by the WHO. It is utilized for the evaluation of robotic arms for upper-limb disability, and the design of new tele-operation system for lower limb disabilities with projection function.