Extending the Application of an Assistant Personal Robot as a Walk-Helper Tool

This paper presents the application of a mobile robot designed as an Assistant Personal Robot (APR) as a walk-helper tool. The hypothesis is that the height and weight of this mobile robot can be used also to provide a dynamic physical support and guidance to people while they walk. This functionality is presented as a soft walking aid at home but not as a substitute of an assistive cane or a walker device, which may withstand higher weights and provide better stability during a walking. The APR operates as a walk-helper tool by providing user interaction using the original arms of the mobile robot and by using the onboard sensors of the mobile robot in order to avoid obstacles and guide the walking through free areas. The results of the experiments conducted with the walk-helper have showed the automatic generation of smooth walking trajectories and a reduction in the number of manual trajectory corrections required to complete a walking displacement.This work was partially funded by Indra and Adecco Fundation, accessibility grant 2017, the University of Lleida, UdL-Impuls Grant, the RecerCaixa 2013 grant, the Government of Catalonia (Comissionat per a Universitats i Recerca, Departament d’Innovació, Universitats i Empresa), and by the European Social Fund (ECO/1794/2015)