Human–Robot–environment interaction interface for smart walker assisted gait: AGoRA walker

Sergio D. Sierra M., Mario Garzón, Marcela Múnera, Carlos A. Cifuentes*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

15 Citations (Scopus)


The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.

Original languageEnglish
Article number2897
JournalSensors (Switzerland)
Issue number13
Publication statusPublished - 2019
Externally publishedYes


  • Control strategies
  • Gait assistance
  • Gait rehabilitation
  • Human–robot–environment interaction
  • Shared control
  • Smart walker


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