Hierarchical Shared Control of Cane-Type Walking-Aid Robot

Table 2

The state-transition conditions.

State-transition condition	Clarification
a	The obstacles on the right side are less than the ones on the left side.
b	The obstacles on the left side are less than the ones on the right side.
c	There is enough space on the right side to avoid obstacles.
d	There is enough space on the left side to avoid obstacles.
e	There is no enough space on the right side to avoid obstacles.
f	There is no enough space on the left side to avoid obstacles.
g	The emergency cases or no obstacle-avoidance space.
h	The release of the emergency cases.