Robotic Collaborative Walker with Impedance Control and Augmented Reality for Assisted Walking and User Empowerment

Abstract

The increasing physical and mental inactivity among vulnerable and aging populations presents significant risks, including higher fall rates and reduced mobility. Traditional rehabilitation programs often fail to engage users effectively, leading to low motivation and suboptimal outcomes. This paper introduces a novel robotic collaborative walker integrated with Impedance Control and Augmented Reality (AR) technologies that considers the psychophysiological status of the user. The system fosters interactive training through immersive AR experiences, promoting motivation and engagement while maintaining a proper level of stress. It enables safe and enriched patient-physician interactions while providing continuous monitoring of patient behaviour and gait recovery. The ultimate goal is to restore user independence through an effective and safe means of rehabilitation