{"id":"https://openalex.org/W4416677409","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249675","title":"Natural Language- Based Assisted Navigation in a Smart Walker","display_name":"Natural Language- Based Assisted Navigation in a Smart Walker","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4416677409","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249675"},"language":null,"primary_location":{"id":"doi:10.1109/sbr/wre66973.2025.11249675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Gabriel Rodrigues de Castro","orcid":null},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gabriel Rodrigues de Castro","raw_affiliation_strings":["Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Elio David Triana Rodr\u00edguez","orcid":null},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Elio David Triana Rodr\u00edguez","raw_affiliation_strings":["Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088105495","display_name":"Fabiana S. Machado","orcid":"https://orcid.org/0000-0001-9272-5209"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Fabiana Santos Vieira Machado","raw_affiliation_strings":["Graduate Program in Informatics Federal University of Espirito Santo,Vit&#x00F3;ria,ES,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Informatics Federal University of Espirito Santo,Vit&#x00F3;ria,ES,Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024101961","display_name":"Anselmo Frizera","orcid":"https://orcid.org/0000-0002-0687-3967"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Anselmo Frizera Neto","raw_affiliation_strings":["Graduate Program in Electrical Eng. Graduate Program in Informatics Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Eng. Graduate Program in Informatics Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil","institution_ids":["https://openalex.org/I51235708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021120212","display_name":"Ricardo Mello","orcid":"https://orcid.org/0000-0003-0420-4273"},"institutions":[{"id":"https://openalex.org/I51235708","display_name":"Universidade Federal do Esp\u00edrito Santo","ror":"https://ror.org/05sxf4h28","country_code":"BR","type":"education","lineage":["https://openalex.org/I51235708"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Ricardo Carminati de Mello","raw_affiliation_strings":["Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Eng. Federal University of Esp&#x00ED;rito Santo,Vit&#x00F3;ria,ES,Brazil","institution_ids":["https://openalex.org/I51235708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37188873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"49","last_page":"54"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.2443999946117401,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.2443999946117401,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.11670000106096268,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.09290000051259995,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5320000052452087},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4966999888420105},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.47189998626708984},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4523000121116638},{"id":"https://openalex.org/keywords/home-automation","display_name":"Home automation","score":0.4207000136375427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4106000065803528},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.36820000410079956},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3278999924659729}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6168000102043152},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5322999954223633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5320000052452087},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4966999888420105},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.47189998626708984},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4523000121116638},{"id":"https://openalex.org/C507571656","wikidata":"https://www.wikidata.org/wiki/Q848436","display_name":"Home automation","level":2,"score":0.4207000136375427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4106000065803528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38370001316070557},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3659000098705292},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3278999924659729},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3077999949455261},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29589998722076416},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28929999470710754},{"id":"https://openalex.org/C152223200","wikidata":"https://www.wikidata.org/wiki/Q3055471","display_name":"Smart environment","level":3,"score":0.2777000069618225},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr/wre66973.2025.11249675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249675","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1722215835","display_name":null,"funder_award_id":"2025-3N254,2023-XDHHW,2022-C5K3H,2021-07KJ2,RESOLUc;Ao,285/2021","funder_id":"https://openalex.org/F4320323682","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa e Inova\u00e7\u00e3o do Esp\u00edrito Santo"},{"id":"https://openalex.org/G2778290620","display_name":null,"funder_award_id":"308155/2023-8,40375312021\u20130,CNPq/FAPES,2025-6VCJ4","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G3922288185","display_name":null,"funder_award_id":"20105182\u20133,18123097\u20133","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G4728602537","display_name":null,"funder_award_id":"0036/21,2784/20","funder_id":"https://openalex.org/F4320322904","funder_display_name":"Financiadora de Estudos e Projetos"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320322904","display_name":"Financiadora de Estudos e Projetos","ror":"https://ror.org/030w99567"},{"id":"https://openalex.org/F4320323682","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa e Inova\u00e7\u00e3o do Esp\u00edrito Santo","ror":"https://ror.org/03cen2c33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2968929408","https://openalex.org/W4319224823","https://openalex.org/W4380884378","https://openalex.org/W4385245566","https://openalex.org/W4388806727","https://openalex.org/W4389304142","https://openalex.org/W4390490761","https://openalex.org/W4393036968","https://openalex.org/W4401414944","https://openalex.org/W4406510161","https://openalex.org/W4412346460","https://openalex.org/W4416249969"],"related_works":[],"abstract_inverted_index":{"Mobility":[0],"is":[1,20,50,68],"a":[2,14,39,51],"determining":[3],"factor":[4],"for":[5,42,80,91,163,172,180],"maintaining":[6],"quality":[7],"of":[8,10,62,78],"life":[9],"individuals,":[11],"especially":[12],"in":[13,54,94,160],"world":[15],"where":[16],"the":[17,60,126,170,176],"overall":[18],"population":[19],"continuously":[21],"aging.":[22],"In":[23,83],"this":[24,84],"regard,":[25],"smart":[26,55,95],"walkers":[27,30,96],"(i.e.,":[28],"traditional":[29],"augmented":[31],"with":[32,59,102,134,139,150],"sensors":[33],"and":[34,45,75,120,137,154,179],"intelligent":[35,89],"systems)":[36],"emerge":[37],"as":[38],"promising":[40,148],"solution":[41],"gait":[43],"monitoring":[44],"locomotion":[46],"assistance.":[47],"Human-robot":[48],"interaction":[49,108],"fundamental":[52],"area":[53],"walker":[56],"development":[57],"and,":[58],"rise":[61],"Large":[63],"Language":[64],"Models":[65],"(LLMs),":[66],"there":[67],"an":[69,88,99],"opportunity":[70],"to":[71,105],"enable":[72],"more":[73],"natural":[74],"adaptive":[76],"channels":[77],"communication":[79],"context-aware":[81],"interaction.":[82],"work,":[85],"we":[86],"propose":[87],"system":[90,111],"assisted":[92],"navigation":[93],"that":[97],"integrates":[98],"LLM-based":[100],"multi-agent":[101],"ROS":[103],"2":[104],"dynamically":[106],"set":[107],"modes.":[109],"The":[110,145,166],"has":[112],"three":[113],"stages:":[114],"command":[115],"detection,":[116],"operating":[117],"mode":[118,122],"definition,":[119],"secondary":[121],"selection.":[123],"To":[124],"validate":[125],"proposed":[127],"solution,":[128],"two":[129],"datasets":[130],"were":[131],"created:":[132],"one":[133],"textual":[135],"commands":[136,141],"another":[138],"voice":[140],"transcribed":[142],"using":[143],"Whisper.":[144],"results":[146,168],"demonstrate":[147],"performance,":[149],"accuracy,":[151],"precision,":[152],"recall,":[153],"F1-score":[155],"values":[156],"above":[157],"86":[158],"percent":[159],"all":[161],"stages":[162],"both":[164],"scenarios.":[165,184],"observed":[167],"pave":[169],"way":[171],"practical":[173],"implementations":[174],"on":[175,182],"robot":[177],"itself":[178],"validation":[181],"realistic":[183]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-25T00:00:00"}
