I have done something similar to what you are describing by adding a catalog/navigation block at the top of my category pages:
Insert a new block into the layout somewhere like app/design/frontend/$package/$theme/layout/catalog.xml or app/design/frontend/$package/$theme/layout/local.xml. In theory you could also do this on a single category basis by inserting just the reference portion below into the category tab “Custom Design -> Custom Layout Update”:
<catalog_category_view>
<reference name="content">
<block type="catalog/navigation" name="catalog.catnav" template="catalog/navigation/category.phtml" before="-"/>
</reference>
</catalog_category_view>
Then create or modify app/design/frontend/$package/$theme/template/catalog/navigation/category.phtml:
<ul id="catnav"><?= $this->renderCategoriesMenuHtml() ?></ul>
The result should be something like this tree structure on your category page, which you can style with CSS through targeting classes to display as needed:
<ul id="catnav">
<li class="level0 nav-1 active first last parent">
<a href="...">ROOT CATEGORY NAME</a>
<ul class="level0">
<li class="level1 nav-1-1 first">
<a href="...">SUBCATEGORY LEVEL 1</a>
</li>
<li class="level1 nav-1-2">
<a href="...">SUBCATEGORY LEVEL 1</a>
</li>
<li class="level1 nav-1-3 active parent">
<a href="...">SUBCATEGORY LEVEL 1 (PARENT + ACTIVE)</a>
<ul class="level1">
<li class="level2 nav-1-3-1 active first">
<a href="...">SUBCATEGORY LEVEL 2 (ACTIVE)</a>
</li>
<li class="level2 nav-1-3-2">
<a href="...">SUBCATEGORY LEVEL 2</a>
</li>
</ul>
</li>
<li class="level1 nav-1-4 last parent">
<a href="...">SUBCATEGORY LEVEL 1 (PARENT)</a>
<ul class="level1">
<li class="level2 nav-1-4-1 first">
<a href="...">SUBCATEGORY LEVEL 2</a>
</li>
<li class="level2 nav-1-4-2">
<a href="...">SUBCATEGORY LEVEL 2</a>
</li>
</ul>
</li>
</ul>
</li>
</ul>