Physiologic aging processes, musculoskeletal limitations and neuropathology are common causes of impaired balance. Balance control probably has the greatest impact on activities of daily living (ADLs) independence and gait, because it is a fundamental motor skill and prerequisite to the maintenance of a myriad of postures and mobility . A consequence  of weakened balance control is fall. Patient falls have  been a major issue of concern in geriatric care and rehabilitation worldwide as it is the single most crucial  factor in patient injuries. The occurrence rate of falls among older patients is high in both healthcare facilities and at home.

MRBA is an automated mobile healthcare assistive robot designed to administer standing , walking and mobile balance control assistance and training on level ground in versatile settings. MRBA consists of a follow-me robotic wheelchair with a planar compliant robotic arm to provide balance assistance to the user at the pelvis, during standing or walking tasks needing minimal aid or supervision and, when the centre of mass of the body deviates beyond the predefined safety boundary.

        (a) MRBA Wheelchair Mode               (b) MRBA Walking and Balance Assistive Mode

                                      Rehabilitation Training and ADL Tasks Assistance