{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T00:07:47Z","timestamp":1780445267807,"version":"3.54.1"},"reference-count":33,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,3,29]],"date-time":"2021-03-29T00:00:00Z","timestamp":1616976000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years the increased rate of the aging population has become more serious. With aging, the elderly sometimes inevitably faces many problems which lead to slow walking, unstable or weak limbs and even fall-related injuries. So, it is very important to develop an assistive aid device. In this study, a fuzzy controller-based smart walker with a distributed robot operating system (ROS) framework is designed to assist in independent walking. The combination of Raspberry Pi and PIC microcontroller acts as the control kernel of the proposed device. In addition, the environmental information and user postures can be recognized with the integration of sensors. The sensing data include the road slope, velocity of the walker, and user\u2019s grip forces, etc. According to the sensing data, the fuzzy controller can produce an assistive force to make the walker moving more smoothly and safely. Apart from this, a mobile application (App) is designed that allows the user\u2019s guardian to view the current status of the smart walker as well as to track the user\u2019s location.<\/jats:p>","DOI":"10.3390\/s21072371","type":"journal-article","created":{"date-parts":[[2021,3,29]],"date-time":"2021-03-29T16:01:57Z","timestamp":1617033717000},"page":"2371","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["ROS-Based Smart Walker with Fuzzy Posture Judgement and Power Assistance"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9451-1028","authenticated-orcid":false,"given":"Yeong-Hwa","family":"Chang","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"},{"name":"Department of Electrical Engineering, Ming Chi University of Technology, New Taipei City 243, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nilima","family":"Sahoo","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jing-Yuan","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shang-Yi","family":"Chuang","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chang Gung University, Taoyuan City 333, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hung-Wei","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Lee-Ming Institute of Technology, New Taipei City 243, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,29]]},"reference":[{"key":"ref_1","unstructured":"Population Division United Nations, Department of Economic and Social Affairs (2019, June 05). 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