Table 1.

Smart walkers’ controllers and sensors.

Smart Walker	Sensors	Controllers
RT Walker [37]	Force/moment sensing and encoders	Several algorithm controllers for motion (obstacle avoidance, path following, among others)
GUIDO Smart Walker [29]	Laser sensor, force sensors, switches, sonar and encoders	Shared control approach
PAM-AID [38]	Ultrasound and laser sensors	Algorithmic controller
PAMM [36]	Health sensors, external sensors, encoders, force sensors, among others	Admittance-based controller
JARoW [34]	Infrared sensors	Algorithmic controllers
iWalker [30]	RFID, encoders and external sensors	Algorithmic controllers
UFES’ Smart Walker [22]	IMUs, laser sensor and force sensor	Force and inverse kinematics controllers
Our device	Laser sensor, encoders and ultrasound	Formation-based controller