Fig. 9From: Mobile Robotic Balance Assistant (MRBA): a gait assistive and fall intervention robot for daily livinga The plot of the MRBA speed against the distance between the user CoM and MRBA. b Illustration of wheelchair base motion, where R is the turning radius, r is the wheel radius, L is the distance between the wheels, \(v, v_L, v_R\) are the speeds of the CoM, left wheel and right wheel, respectivelyBack to article page