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. Author manuscript; available in PMC: 2020 Mar 1.
Published in final edited form as: IEEE Trans Mob Comput. 2018 Jun 1;18(3):702–714. doi: 10.1109/TMC.2018.2842751

Fig. 11.

Fig. 11

State machine of the SmartCane HMI. The state transition is triggered by two types of events: the blue is from the system; the red is from user tactile input.