Emerging technologies are meeting the needs of older adults by identifying potential applications and barriers of socially assistive technologies for healthy aging and classifying technologies to understand the current landscape better. This work addresses the application of assistive technologies for older adults in their homes, highlighting two technologies: leading and support. The methodology involved a scoping review covering articles published between 2017 and October 2022. The main results include robotic assistance, games and virtual reality, mobile applications, and technological integration. The discussion focuses on challenges such as variability among older adults, limited sample size, and technology design. The conclusion points to the potential of these technologies to improve the quality of life of older adults, promote social interactions, and support healthy aging, aligning with the Social Determinants of Health Objectives.