{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T05:30:44Z","timestamp":1775712644337,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2019,4,10]],"date-time":"2019-04-10T00:00:00Z","timestamp":1554854400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Indra","award":["Accessibility grant 2017"],"award-info":[{"award-number":["Accessibility grant 2017"]}]},{"name":"RecerCaixa","award":["2013"],"award-info":[{"award-number":["2013"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/robotics8020027","type":"journal-article","created":{"date-parts":[[2019,4,10]],"date-time":"2019-04-10T11:25:08Z","timestamp":1554895508000},"page":"27","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Extending the Application of an Assistant Personal Robot as a Walk-Helper Tool"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8210-3262","authenticated-orcid":false,"given":"Jordi","family":"Palac\u00edn","sequence":"first","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"}]},{"given":"Eduard","family":"Clotet","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"}]},{"given":"Dani","family":"Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Cornell Agritech, University of Cornell, 630 W. North Street, Geneva, NY 14456, USA"}]},{"given":"David","family":"Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"}]},{"given":"Javier","family":"Moreno","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,10]]},"reference":[{"key":"ref_1","unstructured":"Ortman, J.M., Velkoff, V.A., and Hogan, H. (2014). An Aging Nation: The Older Population in the United States."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Siegel, C., Hochgatterer, A., and Dorner, T.E. (2014). Contributions of ambient assisted living for health and quality of life in the elderly and care services-a qualitative analysis from the experts\u2019 perspective of care service professionals. 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