MRBA consists of four sub-systems: namely (i) a powered wheelchair base, (ii) a sit-to-stand assistive system, (iii) a balance assistive system, and (iv) the sensory system (Fig. 2). They allow the robot to assist the user’s mobility in both Wheelchair Configuration and Walking-assisted Configuration.

Overview of Mobile Robotic Balance Assistance. Top: Wheelchair configuration; Bottom: Walking-assisted configuration

Free full text: Click here