Research Article
Hierarchical Shared Control of Cane-Type Walking-Aid Robot
Table 1
The states of the walking-aid robot.
| State | Clarification | Action |
| 0 | No obstacles | Admittance control with APF | 1 | Obstacles are detected | Move to the right | 2 | Obstacles are detected | Move to the left | 3 | Emergency | Emergency stop |
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