Robotic walkers from a clinical point of view: Feature-based classification and proposal of the UFES Walker

This paper presents a critical review of the state of the art of robotic walkers, emphasizing on the clinical applicability of the main features reported in such systems. A feature-based classification is proposed along with the presentation of the possible clinical scenarios, highlighting the potential of these devices for modern physical therapy practice. Based on the classification, the development of a novel robotic walker - the UFES Walker - is proposed with the most relevant features for controlled rehabilitation programs and, at the same time, suitable for functional compensation and domiciliary use.