S. Page, L. Saint-bauzel, P. Rumeau, and V. Pasqui, Smart walkers : an applicationoriented review, Robotica FirstView, pp.1-20, 2016.

-. Icra, , 2015.

S. Page, M. Martins, L. Saint-bauzel, C. Santos, and V. Pasqui, Fast embedded feet pose estimation based on a depth camera for smart walker, dans "Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.4224-4229, 2015.

M. Martins, S. Page, L. Saint-bauzel, V. Pasqui, C. Santos et al., Realtime gait assessment with an active depth sensor placed in a walker, dans "Proceedings of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, pp.1-6, 2015.

S. Page, K. Mun, Z. Guo, F. A. Reyes, H. Yu et al., Unbalance Detection to Avoid Falls with the Use of a Smart Walker, 2017.

A. Roby-brami, W. Bachta, S. Page, F. Bevilacqua, V. Marchand-pauvert et al., Interfaces interactives et vie quotidienne, Dossier Actualités en MPR, vol.1, pp.1-4, 2017.

. Bibliographie,

S. Page, L. Saint-bauzel, P. Rumeau, and V. Pasqui, Smart walkers : an application-oriented review, Robotica FirstView, pp.1-20, 2016.

M. Alwan, P. J. Rajendran, R. Ledoux, C. Huang, G. Wasson et al., Stability margin monitoring in steering-controlled intelligent walkers for the elderly, 2004.

G. Campion, G. Bastin, and B. Dandrea-novel, Structural properties and classification of kinematic and dynamic models of wheeled mobile robots, IEEE Transactions on Robotics and Automation, vol.12, pp.47-62, 1996.

D. Chugo, Y. Sakaida, S. Yokota, and K. Takase, Sitting motion assistance on a rehabilitation robotic walker, dans "IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.1967-1972, 2011.

W. Mou, M. Chang, C. Liao, Y. Hsu, S. Tseng et al., Context-aware assisted interactive robotic walker for parkinson's disease patients, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.329-334, 2012.

B. Graf, An adaptive guidance system for robotic walking aids, Journal of Computing and Information Technology, vol.17, pp.109-120, 2009.

V. Pasqui, L. Saint-bauzel, C. Zong, X. Clady, P. Decq et al., Projet miras : robot d'assistance à la déambulation avec interaction multimodale, IRBM, vol.33, pp.165-172, 2012.

M. Spenko, H. Yu, and E. S. Dubowsky, Robotic personal aids for mobility and monitoring for the elderly, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.14, pp.344-351, 2006.

G. Lee, T. Ohnuma, N. Chong, and S. Lee, Walking intent-based movement control for jaist active robotic walker, IEEE Transactions on Systems, Man, and Cybernetics : Systems, 2013.

H. K. Park, H. S. Hong, H. J. Kwon, and M. J. Chung, A nursing robot system for elderly people, 2002.

K. Tadakuma, Tetrahedral mobile robot with novel ball shape wheel, The First IEEE/RAS-EMBS International Conference on, pp.946-952, 2006.

M. Wada and H. Asada, Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs, IEEE Transactions on Robotics and Automation, vol.15, pp.978-989, 1999.

H. Yu and S. Dubrowsky, Omni-directional mobility using active split offset castors, SAME IDETC/CIE 26th Biennial Mechanics and Robotics Conference, pp.822-829, 2000.

X. Zhu, Q. Cao, H. Tan, and A. Tang, Omni-directional vision based tracking and guiding system for walking assistant robot, Advances in Neural Network Research and Applications, vol.67, pp.537-543, 2010.

, The keepace : a personalized electric walking assist car

C. Huang, G. Wasson, M. Alwan, P. Sheth, and E. A. Ledoux, Shared navigational control and user intent detection in an intelligent walker, dans "AAAI Fall 2005 Symposium (EMBC), 2005.

S. Inagaki, T. Suzuki, and T. Ito, Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control, dans "IEEE International Conference on Robotics and Automation (ICRA), pp.3768-3773, 2009.

A. Sabatini, V. Genovese, and E. E. Pacchierotti, A mobility aid for the support to walking and object transportation of people with motor impairments, vol.2, pp.1349-1354, 2002.

G. Xiong, J. Gong, G. Junyao, T. Zhao, D. Liu et al., Optimum design and simulation of a mobile robot with standing-up devices to assist elderly people and paraplegic patients, dans "IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.807-812, 2006.

J. Ye, J. Huang, J. He, C. Tao, and X. Wang, Development of a widthchangeable intelligent walking-aid robot, dans "International Symposium on Micro-NanoMechatronics and Human Science (MHS), pp.358-363, 2012.

J. Merlet, Preliminary design of ang, a low-cost automated walker for elderly, dans "New Trends in Mechanism Science, vol.5, pp.529-536, 2010.

C. Bühler, H. Heck, J. Nedza, and R. Wallbruch, Evaluation of the mobil walking & lifting aid, Assistive Technology -Added Value to the Quality of Life, 2001.

P. Médéric, V. Pasqui, F. Plumet, and P. Bidaud, Design of a walking-aid and sit to stand transfer assisting device for elderly people, Proceedings of Romansy 2004 : the 15th CISM-IFToMM Symposium on Robot Design, 2004.

Y. Huang, C. Wu, C. Ko, and K. Young, Collision-free guidance for passive robot walking helper, dans "IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.3129-3134, 2012.

D. T. Röfer, T. Laue, and D. B. Gersdorf, iwalker -an intelligent walker providing services for the elderly, Technically Assisted Rehabilitation, 2009.

H. Yu, M. Spenko, and E. S. Dubowsky, An adaptive shared control system for an intelligent mobility aid for the elderly, Autonomous Robots, vol.15, pp.53-66, 2003.

D. Yoo, H. Hong, H. Kwon, and M. Chung, 20 human-friendly care robot system for the elderly," dans, de Lecture Notes in Control and Information Science, vol.306, pp.323-332, 2004.

Y. Jiang and S. Wang, Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning, dans "International Conference on Mechatronics and Automation (ICMA), pp.693-698, 2010.

D. Chugo, T. Asawa, T. Kitamura, J. Songmin, and K. Takase, A motion control of a robotic walker for continuous assistance during standing, walking and seating operation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4487-4492, 2009.

K. Seo and J. Lee, The development of two mobile gait rehabilitation systems, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.17, pp.156-166, 2009.

L. Zhang, D. Bai, and L. Yi, Optimization of walking assistance mechanism in rehabilitation wheelchair, IEEE/ICME International Conference on Complex Medical Engineering (CME), pp.621-626, 2011.

N. J. Seo, T. J. Armstrong, and J. G. Young, Effects of handle orientation, gloves, handle friction and elbow posture on maximum horizontal pull and push forces, Ergonomics, vol.53, pp.92-101, 2010.

Y. Zhang, J. Niu, M. Hayes, C. Chaisson, P. Aliabadi et al., Prevalence of symptomatic hand osteoarthritis and its impact on functional status among the elderly. the framingham study, American Journal of Epidemiology, vol.156, issue.11, 2002.

B. D. Owen and G. Fragala, Reducing perceived physical stress while transferring residents : An ergonomic approach, AAOHN Journal, vol.47, p.10661045, 1999.

, The rehabilitation institute of chicago, 2005.

M. Bouri, Y. Stauffer, C. Schmitt, Y. Allemand, S. Gnemmi et al., The walktrainer : A robotic system for walking rehabilitation, dans "IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.1616-1621, 2006.

E. Einbinder and T. Horrom, Smart walker : A tool for promoting mobility in elderly adults, J Rehabil Res Dev, vol.47, issue.9, pp.xiii-xvi, 2010.

O. Chuy, Y. Hirata, and K. Kosuge, Augmented variable center of rotation in controlling a robotic walker to adapt user characteristics, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1779-1784, 2005.

A. J. Rentschler, R. Simpson, R. A. Cooper, and M. L. Boninger, Clinical evaluation of guido robotic walker, Journal of Rehabilitation Research & Development, vol.45, pp.1281-1294, 2008.

O. Chuy, Y. Hirata, and K. Kosuge, Environment feedback for robotic walking support system control, IEEE International Conference on Robotics and Automation, pp.3633-3638, 2007.

K. Song and S. Jiang, Force-cooperative guidance design of an omnidirectional walking assistive robot, dans "International Conference on Mechatronics and Automation (ICMA), pp.1258-1263, 2011.

H. Jun, Y. Chang, B. Dan, B. Jo, B. Min et al., Walking and sit-to-stand support system for elderly and disabled, dans "IEEE International Conference on Rehabilitation Robotics (ICORR), pp.1-5, 2011.

Y. Hirata, A. Hara, and K. Kosuge, Passive-type intelligent walking support system "rt walker, Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.4, pp.3871-3876, 2004.

M. M. Martins, C. P. Santos, A. Frizera-neto, and E. R. Ceres, Assistive mobility devices focusing on smart walkers : Classification and review, Robotics and Autonomous Systems, vol.60, pp.548-562, 2012.

R. Tan, S. Wang, Y. Jiang, K. Ishida, and M. Fujie, Path tracking control of an omni-directional walker considering pressures from a user, dans "35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp.910-913, 2013.

Y. Hirata, A. Muraki, and K. Kosuge, Motion control of intelligent passive-type walker for fall-prevention function based on estimation of user state, IEEE International Conference on Robotics and Automation (ICRA), pp.3498-3503, 2006.

N. Noury, A. Fleury, P. Rumeau, A. Bourke, G. Laighin et al., Fall detection -principles and methods, dans "29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp.1663-1666, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00201202

N. Nejatbakhsh and K. Kosuge, User-environment based navigation algorithm for an omnidirectional passive walking aid system, dans "9th International Conference on Rehabilitation Robotics (ICORR), pp.178-181, 2005.

K. Yu, C. Lam, M. Chang, W. Mou, S. Tseng et al., An interactive robotic walker for assisting elderly mobility in senior care unit," dans, IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pp.24-29, 2010.

Y. Hirata, S. Komatsuda, and K. Kosuge, Fall prevention control of passive intelligent walker based on human model, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1222-1228, 2008.

S. Taghvaei, Y. Hirata, and K. Kosuge, Control of a passive walker using a depth sensor for user state estimation, dans "IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.1639-1645, 2011.

M. Geravand, W. Rampeltshammer, and A. Peer, Control of mobility assistive robot for human fall prevention, IEEE International Conference on Rehabilitation Robotics (ICORR, 2015.

G. Lacey and S. Macnamara, User involvement in the design and evaluation of a smart mobility aid, Journal of rehabilitation research and development, vol.37, issue.6, pp.709-732, 2000.

V. Faria, J. Silva, M. Martins, and C. Santos, Dynamical system approach for obstacle avoidance in a smart walker device, IEEE International Conference on, pp.261-266, 2014.

S. Kotani, H. Mori, and N. Kiyohiro, Development of the robotic travel aid hitomi, Robotics and Autonomous Systems, vol.17, pp.119-128, 1996.

V. Kulyukin, A. Kutiyanawala, E. Lopresti, J. Matthews, and R. Simpson, iwalker : Toward a rollator-mounted wayfinding system for the elderly, dans "IEEE International Conference on RFID, pp.303-311, 2008.

B. Graf, U. Reiser, M. Hägele, K. Mauz, and P. Klein, Robotic home assistant care-o-bot 3 -product vision and innovation platform, IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pp.139-144, 2009.

A. Morris, R. Donamukkala, A. Kapuria, A. Steinfeld, J. Matthews et al., A robotic walker that provides guidance," dans, Proceedings IEEE International Conference on Robotics and Automation (ICRA), vol.1, pp.25-30, 2003.

J. Glover, S. Thrun, and J. Matthews, Learning user models of mobility-related activities through instrumented walking aids, dans "Proceedings IEEE International Conference on Robotics and Automation (ICRA), vol.4, pp.3306-3312, 2004.

C. Tsai, Y. Huang, Y. Wang, and E. S. Hu, Design and implementation of a nursing-care walking assistant for the elderly, dans "Proc. of 2005 Chinese Automatic Control Conference, pp.210-215, 2005.

J. Glover, D. Holstius, M. Manojlovich, K. Montgomery, A. Powers et al., A robotically-augmented walker for older adults, Rapp. techn, 2003.

D. Rodriguez-losada, F. Matia, A. Jimenez, R. Galan, and G. Lacey, Implementing map based navigation in guido, the robotic smartwalker, dans "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp.3390-3395, 2005.

Y. Shi, S. Kotani, and H. Mori, A route comprehension support system for a robotic travel aid, Systems and Computers in Japan, vol.37, pp.87-99, 2006.

V. Kulyukin, E. Lopresti, A. Kutiyanawala, R. Simpson, and J. Matthews, A rollator-mounted wayfinding system for the elderly : Proof-of-concept design and preliminary technical evaluation, dans "Proceedings of the 30-th Annual Conference of the Rehabilitation Engineering and Assistive Technology Society of North America (RESNA), 2007.

A. Sabatini, V. Genovese, and E. E. Maini, Be-viewer : vision-based navigation system to assist motor-impaired people in docking their mobility aids, dans "Proceedings IEEE International Conference on Robotics and Automation (ICRA), vol.1, pp.1318-1323, 2003.

H. Hashimoto, A. Sasaki, Y. Ohyama, and C. Ishii, Walker with hand haptic interface for spatial recognition, dans "9th IEEE International Workshop on Advanced Motion Control, pp.311-316, 2006.

G. Yuk, H. Park, B. Dan, B. Jo, and W. Chang, Development of smart mobile walker for elderly and disabled, dans "IEEE International Symposium on Robot and Human Interactive Communication, pp.300-301, 2013.

Y. Nemoto, S. Egawa, A. Koseki, S. Hattori, T. Ishii et al., Power-assisted walking support system for elderly, dans "Proceedings of the 20th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol.5, pp.2693-2695, 1998.

L. Zhang, Q. X. Cao, C. T. Leng, A. L. Tang, and F. Shi, The development of walking assistant robot for the elderly, Key Engineering Materials, p.1893, 2011.

A. D. Chan and J. Green, Smart rollator prototype," dans, IEEE International Workshop on Medical Measurements and Applications (MeMeA), pp.97-100, 2008.

K. Doughty, Telehealth to support health promotion and management of disease, 2012.

J. Hausdorff, Gait variability : methods, modeling and meaning, Journal of NeuroEngineering and Rehabilitation, vol.2, pp.1-9, 2005.

J. L. Allen, S. A. Kautz, and R. R. Neptune, Step length asymmetry is representative of compensatory mechanisms used in post-stroke hemiparetic walking, Gait & Posture, vol.33, pp.538-543, 2011.

V. Y. Mhsc and A. M. Phd, Difficulties in automatic speech recognition of dysarthric speakers and implications for speech-based applications used by the elderly : A literature review, Assistive Technology, vol.22, p.20698428, 2010.

Y. Hirata, A. Muraki, and K. Kosuge, Standing up and sitting down support using intelligent walker based on estimation of user states, dans "Proceedings of the IEEE International Conference on Mechatronics and Automation, pp.13-18, 2006.

J. Miro, V. Osswald, M. Patel, and G. Dissanayake, Robotic assistance with attitude : A mobility agent for motor function rehabilitation and ambulation support, dans "IEEE International Conference on Rehabilitation Robotics (ICORR), pp.529-534, 2009.

Y. Morita, D. Chugo, Y. Sakaida, S. Yokota, and K. Takase, Standing motion assistance on a robotic walker based on the estimated patient's load, dans "4th IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp.1721-1726, 2012.

H. Shim, E. Lee, J. Shim, S. Lee, and S. Hong, Implementation of an intelligent walking assistant robot for the elderly in outdoor environment, dans "9th International Conference on Rehabilitation Robotics (ICORR), pp.452-455, 2005.

M. Tomita, T. Ogiso, Y. Nemoto, and M. G. Fujie, A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion, JSME International Journal Series C, vol.43, pp.949-956, 2000.

V. Pasqui and P. Bidaud, Bio-mimetic trajectory generation for guided arm movement during assisted sit-to-stand transfer, dans "Proc. of the 9th Int. Conf. on Climbing and Walking Robots, 2006.

V. Pasqui, J. Graefinstein, L. Saint-bauzel, and E. P. Bidaud, Postural stability contro for robot-human cooperation for sit-to-stand assistance, Proc. CLAWAR, 2007.

C. Zhu, M. Oda, M. Suzuki, X. Luo, H. Watanabe et al., A new type of omnidirectional wheelchair robot for walking support and power assistance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.6028-6033, 2010.

X. Zhang, Y. Wang, and X. Wei, Research on control technology of elderlyassistant & walking-assistant robot based on tactile-slip sensation, Engineering Sciences, vol.11, 2013.

K. Song and C. Lin, A new compliant motion control design of a walkinghelp robot based on motor current and speed measurement, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4493-4498, 2009.

G. Wasson, P. Sheth, M. Alwan, K. Granata, A. Ledoux et al., User intent in a shared control framework for pedestrian mobility aids, dans "Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.3, pp.2962-2967, 2003.

J. Frémy, F. Michaud, and M. Lauria, Pushing a robot along -a natural interface for human-robot interaction, dans "IEEE International Conference on Robotics and Automation (ICRA), pp.3440-3445, 2010.

O. Chuy, Y. Hirata, Z. Wang, and K. Kosuge, Approach in assisting a sit-to-stand movement using robotic walking support system, dans "IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4343-4348, 2006.

S. French, Simulation exercises in disability awareness training : A critique, Disability, Handicap & Society, vol.7, pp.257-266, 1992.

A. Neto, R. Ceres, E. Rocón-de-lima, and J. L. Pons, Empowering and assisting natural human mobility : The simbiosis walker, International Journal of Advanced Robotic Systems, vol.8, pp.34-50, 2011.

K. Mun, Z. Guo, and H. Yu, Development and evaluation of a novel overground robotic walker for pelvic motion support, dans "IEEE International Conference on Rehabilitation Robotics (ICORR), pp.95-100, 2015.

S. Page, M. Kyung-ryoul, Z. Guo, F. Reyes, H. Yu et al., Unbalance detection to avoid falls with the use of a smart walker, dans "6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016.

D. A. Winter, Human balance and posture control during standing and walking, Gait and Posture, vol.3, pp.193-214, 1995.

A. Hof, M. Gazendam, and W. Sinke, The condition for dynamic stability, Journal of Biomechanics, vol.38, pp.1-8, 2005.

C. P. Carty, P. Mills, and R. Barrett, Recovery from forward loss of balance in young and older adults using the stepping strategy, Gait & Posture, vol.33, pp.261-267, 2011.

A. Höhne, C. Stark, G. Brüggemann, and A. Arampatzis, Effects of reduced plantar cutaneous afferent feedback on locomotor adjustments in dynamic stability during perturbed walking, Journal of Biomechanics, vol.44, pp.2194-2200, 2011.

F. Bagalà, C. Becker, A. Cappello, L. Chiari, and K. E. Aminian, Evaluation of accelerometer-based fall detection algorithms on real-world falls, PLoS ONE, vol.7, issue.5, p.37062, 2012.

U. Lindemann, A. Hock, M. Stuber, W. Keck, and C. Becker, Evaluation of a fall detector based on accelerometers : A pilot study, Medical and Biological Engineering and Computing, vol.43, pp.548-551

K. Mun, H. Yu, C. Zhu, and M. S. Cruz, Design of a novel robotic overground walking device for gait rehabilitation, IEEE 13th International Workshop on, pp.458-463, 2014.

J. Geursen, D. Altena, C. Massen, and M. Verduin, A model of the standing man for the description of his dynamic behaviour, Agressologie, vol.17, pp.63-72, 1976.

D. Winter, Biomechanics of human movement, 1979.

S. Page, M. Martins, L. Saint-bauzel, C. Santos, and V. Pasqui, Fast embedded feet pose estimation based on a depth camera for smart walker, IEEE International Conference on, pp.4224-4229, 2015.

M. Martins, S. Page, L. Saint-bauzel, V. Pasqui, C. Santos et al., Realtime gait assessment with an active depth sensor placed in a walker, EMBS International Conference on Rehabilitation Robotics, pp.1-6, 2015.

C. Zong, M. Chetouani, and A. Tapus, Automatic gait characterization for a mobility assistance system, Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on, vol.478, pp.7-10, 2010.
URL : https://hal.archives-ouvertes.fr/hal-02423451

A. Abellanas, A. Neto, R. Ceres, R. Raya, and L. Calderón, Ultrasonic time of flight estimation in assistive mobility : Improvement of the model-echo fitting, 2008.

T. Pallejà, M. Teixidó, M. Tresanchez, and J. Palacín, Measuring gait using a ground laser range sensor, Sensors, vol.9, issue.11, pp.9133-9146, 2009.

G. Paolini, A. Peruzzi, A. Mirelman, A. Cereatti, S. Gaukrodger et al., Validation of a method for real time foot position and orientation tracking with microsoft kinect technology for use in virtual reality and treadmill based gait training programs, IEEE Transactions on, vol.22, issue.5, p.1002, 2014.

R. Hu, A. Hartfiel, J. Tung, A. Fakih, J. Hoey et al., 3d pose tracking of walker users' lower limb with a structured-light camera on a moving platform, IEEE Computer Society Conference on, vol.36, pp.20-25, 2011.

C. Joly, C. Dune, P. Gorce, and P. Rives, Feet and legs tracking using a smart rollator equipped with a kinect, conjonction with IEEE/RSJ Int. Conf. on Int. Rob. and Sys. (IROS), 2013.
URL : https://hal.archives-ouvertes.fr/hal-00921273

J. Cohen and F. Mourey, Rééducation en gériatrie (Coll. Professions santé, Lavoisier Médecine, 2014.

D. Gasq, F. Molinier, and J. Lafosse, Physiologie, méthodes d'explorations et troubles de la marche, 2009.

G. Wasson, J. Gunderson, S. Graves, and R. Felder, An assistive robotic agent for pedestrian mobility, dans "International Conference on Autonomous Agents, pp.169-173, 2001.

B. Graf, Proceedings of the 10th IEEE International Workshop onRobot and Human Interactive Communication, pp.353-358, 2001.

G. Lacey and K. Dawson-howe, Evaluation of robot mobility aid for the elderly blind, 1997.

A. Campeau-lecours, Développement d'algorithmes de commande et d'interfaces mécatroniques pour l'intéraction physique humain-robot (Faculté des sciences et de génie, 2012.

W. Zhou, L. Xu, and E. J. Yang, An intent-based control approach for an intelligent mobility aid, dans "2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR), vol.2, pp.54-57, 2010.

H. Wu, C. Chien, Y. Jheng, C. Chen, H. Chen et al., Development of intelligent walker with dynamic support, 18th IFAC World Congress, 2011.

C. Valadão, E. Caldeira, T. Bastos-filho, A. Frizera-neto, and E. R. Carelli, A new controller for a smart walker based on human-robot formation, Sensors, vol.16, 2016.

S. D. Kelly and R. M. Murray, Geometric phases and locomotion, J. Robotic Systems, vol.12, issue.6, pp.417-431, 1995.

C. Connette, A. Pott, M. Hägele, and A. Verl, Control of an pseudoomnidirectional, non-holonomic, mobile robot based on an icm representation in spherical coordinates, CDC 2008. 47th IEEE Conference on, pp.4976-4983, 2008.