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. 2018 Dec 30;19(1):109. doi: 10.3390/s19010109

Figure 1.

Figure 1

(a) Ultrasonic tethering system prototype mounted on a Permobil F5 corpus powered wheelchair, with AP beacon laying on the armrest, (b) Ultrasonic tethering system for social following, and (c) Ultrasonic tethering beacon placement on the accompanying person.