An active type of robotic mobility aid ZJU Walker is presented.ZJU Walker is designed to facilitate safe mobilization for elderly.It provides physical support and walking assistance.ZJU Walker uses torque sensors as a main user interface to sense user’s walking intent and an accelerometer to monitor the user’s gait.A shared control system is allocated between the user and the walker.It integrates the user’s intent and environment information detected by the sonar sensors and infrared sensors to control the walker’s motion.Issues of system description

sensing

and control approach are presented.The validity of the design is verified by the experimental results.