In this paper we consider the ethical-political basis of a new conception of human vulnerability in the Convention on the Rights of Persons with Disabilities (CRPD), proposing its incorporation in the development of emerging robotic technology.  We reflect on the notion of assistance. The CRPD suggests a new conception based on the social recognition of personal autonomy through a set of human rights, grounded on the value of respect for the diversity of human functionings. The capability approach (Martha Nussbaum) provides important theoretical support for this new conception. From this new perspective of justice, focused on inclusive human development, we argue that the role of healthcare robotics should be reoriented towards an inclusive robotics: one that, in addition to contributing to care, enables support for what people can do in different life stages, facilitating their inclusion in diverse social environments (education, work environment, etc.).