Table 2.

Predefined scenarios and their frequencies used to generate trajectories for motion evaluation.

Scenario	Frequency
Bed to patient chair/Patient chair to bed	4
Bed to toilet/Toilet to sink/Sink to bed	18
Bed to main entrance door/Main entrance door to bed	6
Bed to sofa/Sofa to bed	2
Patient chair to toilet/Toilet to Patient chair	6
Total	36