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Numerous diseases and aging can cause degeneration of people's balanceability resulting in limited mobility and even high risks of fall. Robotictechnologies can provide more intensive rehabilitation exercises or be used asassistive devices to compensate for balance ability. However, With the newhealthcare paradigm shifting from hospital care to home care, there is a gap inrobotic systems that can provide care at home. This paper introduces MobileRobotic Balance Assistant (MRBA), a compact and cost-effective balanceassistive robot that can provide both rehabilitation training and activities ofdaily living (ADLs) assistance at home. A three degrees of freedom (3-DoF)robotic arm was designed to mimic the therapist arm function to provide balanceassistance to the user. To minimize the interference to users' natural pelvismovements and gait patterns, the robot must have a Human-Robot Interface(HRI)that can detect user intention accurately and follow the user's movementsmoothly and timely. Thus, a graceful user following control rule was proposed.The overall control architecture consists of two parts: an observer for humaninputs estimation and an LQR-based controller with disturbance rejection. Theproposed controller is validated in high-fidelity simulation with actual humantrajectories, and the results successfully show the effectiveness of the methodin different walking modes.

Graceful User Following for Mobile Balance Assistive Robot in Daily Activities Assistance