Patent Publication Number: US-2022211568-A1

Title: Mobility assistance apparatus

Description:
CROSS REFERENCE o RELATED APPLICATIONS 
     The present application claims priority from U.S. Patent Application No. 62/849,337 filed May 17, 2019 and entitled “Mobility Assistance Apparatus,” the entirety of which is incorporated herein by reference for all purposes. 
    
    
     TECHNICAL FIELD 
     The application describes example of enhanced capability (also referred to as smart) mobility aid devices, such as rollators, walkers, crutches, canes and the like, as well as apparatuses, systems, and processes for enhancing the capabilities of mobility aid devices. 
     BACKGROUND 
     A variety of mobility aid devices, or simply mobility device, have been developed including canes, crutches, walkers, and rollators. Mobility aids can assist a user with various mobility challenges, such as due to age, injury or other mobility-impairing condition. For example, after an injury, a mobility aid device can help the user keep the weight of the injured limb, assist with balance, and generally help the user perform day-to-day activities. Mobility aid devices, for examples walkers and rollators, have become ubiquitous with the aging population, and can provide an important service to allow people to maintain a degree of independence, despite increasing age, injury, or other mobility-impairing condition. Canes and crutches typically have a single leg with a foot provided at the bottom of the leg and are configured to be gripped by the user for supporting one side of the user&#39;s body, e.g., to reduce the amount of weight on an injured or otherwise weakened, such as due to aging, limb. Walkers and rollators are another popular type of mobility device, which can provide a greater level of balance assistance and unloading of weight from the user&#39;s lower body. Such devices typically include a plurality of legs, usually four, that contact the ground to provide a more stable base and typically include two handles to support both of the user&#39;s left and right hands. Walker and rollators may thus al low the user to use both arms to support their weight thus allowing the user to take more of the weight off of the user&#39;s lower body when walking. Conventional mobility devices generally only assist the user with mobility challenges, such as when walking and/or participating in day-to-day activities. Thus, as mobility devices are becoming ubiquitous in daily life for certain users, designers and manufacturers of mobility devices continue to seek improvements thereto such as by enhancing the capabilities provided by mobility devices. 
     SUMMARY 
     The present disclosure relates to smart mobility devices, such as walkers, rollators, canes, crutches, wheelchairs or others, with a variety of features that enhance the capability of the mobility aid device beyond just assisting the user with a mobility challenge. 
     In accordance with some embodiments, a smart mobility device may include a frame configured to be rolled along a support surface, the frame including a plurality of wheels for rolling contact with the support surface, and a seat positioned above the plurality of wheels and configured to support the user in a seated position. The smart mobility device may further include a display, which in some embodiments may be positioned on the frame to face the user&#39;s back when the user is seated on the seat. The smart mobility device may further include a handle configured to be gripped by the user, and the display may be configured to be automatically powered on responsive to the handle being gripped. 
     In some embodiments, the smart mobility device may include multiple displays, one located in a handle of the smart mobility device and one located elsewhere. At least one of the displays of the smart mobility device may be arranged to be visible to the user when gripping the handle. In some embodiments, both of the displays may be visible to the user when gripping the handle. The smart mobility device may be configured to enable the user to set a user preference identifying one of the plurality of displays as a primary display when using the device. In some such cases, the primary display may be powered (e.g., for displaying information to the user) when the handle is being gripped, while the other display may be deactivated when the primary display is active, e.g., for conserving power. In some embodiments, one or more of the multiple displays may not be visible when the user is seated on the seat. For example, one of the displays may be located in the backrest of the seat and may face the user&#39;s back when the user is seated on the seat. In some such embodiments, the smart mobility device may be configured to detect when the user is in a seated position and may automatically deactivate at least one of the displays (e.g., the display located in the backrest) upon detection of the user in a seated position. In some such embodiments, the smart mobility device may be further configured to detect a change in condition such as a change from the user being in a seated position to the user being no longer in a seated position and may, in some such examples, re-activate the display which was de-activated upon the detected seated position. 
     In some embodiments, one or more sensors may be integrated into the smart mobility device for determining a change in condition (e.g., for detecting a grip of the handle, detecting a user in a seated position or a transition from a seated position to the user no longer being seated). The smart mobility device may include at least one sensor configured to detect a grip of the handle, and more specifically of a grip portion of the handle. In some examples, the one or more sensors may include one or more touch sensors, capacitive sensors, pressure sensors, force sensors, and/or strain gauge on the handle. In some examples, a grip may be detected based on detected touch at two different peripherally spaced locations on the handle (e.g., a location likely to be contacted by the user&#39;s palm and by a user&#39;s finger). In some examples, a grip may be detected responsive to detection of a squeezing force on the handle, which may be detected using one or more pressure sensor, force sensors, or strain gauges. Sensor data from the one or more sensors may be communicated to a processor onboard the smart mobility device, which may analyze the sensor data to detect the change in condition (e.g., to detect a grip, a seated position, or unloading of the seat indicating the user had stood up). 
     In some embodiments, the smart mobility device may include at least one sensor configured to detect whether the user is in a seated position and/or has stood up following being seated. In some such examples, the smart mobility device may include a proximity sensor having its detection beam directed to the seating area of the smart mobility device. For example, a proximity sensor, such as and without limitation an optical sensor, an ultrasonic sensor or a suitable RF sensor, may be located on the backrest (e.g., proximate the display on the backrest, or elsewhere on the backrest), on the frame, or on the seat and facing in a direction pointed in the general area between the seat and the backrest for detecting an object, such as the user, within the seating area. In some embodiments, the smart mobility device may include one or more load cells, strain gauges or another suitable sensor to detect a load being supported by the seat. In some embodiments, sensor data from a load-measuring sensor on the seat may be analyzed in conjunction with load data from other locations of the smart mobility device, e.g., from the storage container, the handle(s), or elsewhere on the frame, to identify the source of a loading condition (e.g., the user being seated on the seat, items being supported in the storage container, or force being applied on the handles) and thus isolate a condition representative of the user being in a seated position from other loading conditions of the smart mobility device. The smart mobility device may include any suitable number or combination of sensors, such as and without limitation a load cell, a strain gauge, a camera, a proximity sensor, or a touch sensor, to determine whether the user is in a seated position. In some embodiments, upon the determination that the user is in a seated position, the processor may generate a seated mode signal which may be communicated to one or more other electronic components of the smart mobility device and/or used to control operation of the one or more electronic components (e.g., to deactivate or power down a given component such as the back rest display). 
     In some embodiments, the processor may analyze the sensor data, e.g., for identifying a load on the smart mobility device, for tracking user activity, and/or deriving information pertaining to the user&#39;s health. The smart mobility device may be configured to generate a gait measurement and/or a standing/walking load on the device. A load on the smart mobility device may be measured in a variety of ways. For example, a load cell may be located in the base (e.g., the tip in the case of a cane or crutch) of the smart mobility device. The load cell may be provided with a hard stop to prevent or restrict the load cell from over deflecting, which may damage the load cell. The load cell may be positioned in the base, such that it is deflected every time a load is placed on the mobility aid device, such as by the user at least partially supporting their weight with the mobility aid device, and the amount of deflection of the load cell may be used to determine the amount of load being placed on the smart mobility device each time. In other examples, a load cell (e.g., a coin load cell) may be placed at other locations, for example in the wheel (e.g., in the wheel shaft), in the handle, between the handle and the body (e.g., leg or frame) of the smart mobility device or within the body of the smart mobility device and operatively arranged to deflect and measure a downward load on the device. In yet further examples, a strain gauge may be used instead of or in combination with a load cell or other suitable load-measuring sensor. A strain gauge may be located on any surface or component, which deflects during loading of the smart mobility device, One or more strain gauges can be placed on a structural component of the smart mobility device (e.g., the handle, the body, the frame, the wheels, the tip) or a non-structural component, including but not limited to any flexible printed. circuit board (PCB) which may also deflect during use of the device. In the case of the latter, cadence measurements may be obtained from the periodic deflection of the non-structural component, while for an accurate determination of loading on the device, sensor data may be obtained from sensors operatively associated with structural (i.e., load-bearing) components of the smart mobility device. In some embodiments, the motion (e.g., kinematics) of the smart mobility device may be derived from on-board sensors, including but not limited to motion sensors, accelerometers, inertial measurement units (IMUs) or others, embedded in the smart mobility device, and based on which information about the user&#39;s activities and/or health may be derived. In some examples, the sensor data from multiple sensors (e.g., an IMU or other type of motion sensor in the handle and another in the base of the mobility device) may be used in conjunction to derive motion or kinematics of the mobility device. 
     In some embodiments, the smart mobility device may be configured to generate a gait measurement and/or track trends relating to the user&#39;s gait. In some embodiments, the load measurements may be used to derive a cadence, which may be used in combination with distance travelled to derive a gait measurement (e.g., a length of the user&#39;s step). Gait measurements may include measurement of one instance in time or an average of a plurality of measurements over a period of time and/or the gait measurements may be recorded and analyzed for trends (e.g., a user&#39;s step increasing or decreasing in length, stability, etc.). A distance travelled may be obtained using a variety of suitable techniques including but not limited to measuring the rotation of the wheels and computing the distance from the number of rotations and diameter of the wheels, or via a GPS or other geolocation system. Gait measurements may additionally or alternatively be obtained using other sensors, such as a camera, which capture image data of the user&#39;s lower body (e.g., legs and or feet). The image data from the camera may be processed using any suitable computer vision technique (e.g., image segmentation, or machine-learning object recognition) to identify the user&#39;s legs or feet in the image data and measure the distance between the user&#39;s legs or feet for obtaining a gait measurement. In some examples, a gait measurement may be taken from the frames or instances in time where the user&#39;s legs or feet are determined to be farthest apart. In some embodiments, the image data may be processed to instead identify instances in time or frames in which the user&#39;s feet contact the ground or are closed to the ground, and a gait measurement may be taken from those frames. Other techniques may be used to obtain gait measurements and/or other information about the user&#39;s kinematics. 
     In some embodiments, the smart mobility device may include one or more cameras. In some embodiments, the smart mobility device may include at least one forward facing camera and the smart mobility device may be configured to identify obstacles in the path of the smart mobility device for obstacle avoidance. In some such embodiments, the smart mobility device may be configured to provide autonomous (e.g., fully autonomous), semi-autonomous (e.g., steering only but no powered driving of the device) control and/or alerts to the user. In some embodiments, one or more of the cameras on the smart mobility device may be operated, per user preferences, for automatic or triggered recording images (e.g., still photos or video) for personal use by the user (e.g., for posting on a user&#39;s social media cite or otherwise sharing with others), which enables the user to capture the moment without having to relinquish control/handling of the mobility aid device. in some embodiments, the smart mobility device may include one or more rear-facing cameras  334 - 1  (e.g., a camera directed toward an upper body of the user, a camera directed toward the lower body of the user). Image data from such cameras may be used for various functions performed by the smart mobility device, such as for user identification, gait measurements, posture monitoring and alerts, or other activity or status tracking. 
     In some embodiments, upon user identification, which may be performed automatically in some cases by the smart mobility device using sensor data from one or more of the on-board sensors, the smart mobility device may automatically apply user-specific settings for the smart mobility device. For example, the smart mobility device may queue up (e.g., assign to speed dial or emergency protocol numbers) the user&#39;s specific contact list. Other user-specific settings may include but are not limited to applying, lighting level settings for the one or more lights of the smart mobility device and/or back lighting of the displays, present volume levels associated with various functions, such as listening to audio, making voice calls, sounding of alerts, and/or sounding of notification to bystanders. Other user-specific settings may include but are not limited to autonomous/semi-autonomous driving settings (e.g., amount of braking force, normal travel speed), sensitivity of controls (e.g., sensitivity of touch-sensors, microphones, etc.), noise cancellation functions, etc. 
     In some embodiments, the smart mobility device may include one or more light sources (or simply lights) configured to operate (e.g., turn on and off, or activate/illuminate in a pattern) in different modes based on a detected change of condition. For example, one or more of the lights of the smart mobility device may turn on and off in a pattern, they may light up in different colors or on/off frequencies depending on the detected condition or change of condition. In some such examples, at least one of the lights may be configured to operate at a first frequency (e.g., a relatively faster blinking rate) or have a first illumination color (e.g., illuminate in an orange color) when an emergency condition has been detected and to operate at a second frequency (e.g., a relatively slower, compared to the emergency condition, blinking rate) or have a second illumination color (e.g., illuminate in white) when no emergency condition has been detected. 
     In some embodiments, the smart mobility device may be configured to detect an emergency condition, such as detect if the user has fallen, and may perform certain automatic functions, such as initiate an emergency transmission, switch or activate the lighting to the emergency mode, sound an audible alert such as to alert any by passers, activate microphones, speakers and or emergency buttons at an appropriate location of the device such as near the base and in some cases on a particular side (e.g., left or right side) of the base where the user has been detected to have fallen. A variety of other functions may be tailored (such as tailoring the function associated with a soft control or other aspects of a graphical user interface) based on a detected change of condition, as described further below. 
     As described further below, the smart mobility aid device may include one or a plurality of electronic communication components configured to communicatively couple the smart mobility device to an external electronic device, for example a computing device (e.g., laptop, smartphone, tablet, smart watch, etc.) of the user, a care giver, or a healthcare provider. In some examples, the external electronic device may be the other one of a set of smart or semi-smart mobility aid devices. For example, each of a pair of smart crutches may be configured to be communicatively coupled to one another to share information and in some cases, at least one of the pair of smart crutches may be configured for communicatively coupling to an electronic device other than the set of crutches (e.g., a device of the user or the storage device on the cloud) for transmitting user data thereto. In some examples, transmission of user data may occur automatically and periodically, for example at pre-set intervals of time, which may be a user setting or controllable by a person other than the user (e.g., a guardian, caregiver, healthcare provider), or upon the meeting of a certain criteria, e.g., upon failing to detect the user in proximity to the smart mobility aid device, or detection by the smart mobility of a new user in proximity. 
     The smart mobility aid device may include additional or alternative features that enhance the usability or functionality of the smart mobility device. For example, the smart mobility device may be foldable, such as by using a scissor-type folding linkage or any other suitable folding linkage between the two sides of the frame. The frame or body of the smart mobility device may be otherwise adjustable, such as to adjust the length of the body or a frame member, and in some cases the body or frame member may be adjustable at two distinct spaced apart locations. In yet further embodiments, the smart mobility device may include removable and interchangeable (also referred to as modular) components for tailoring the mobility aid device for different use cases. For example, the mobility aid device (e.g., walker, roller, wheelchair) may include a storage container which is removably coupled to the mobility aid device and in some cases interchangeable with other storage containers that provide other functions, such as temperature control of the items in the storage container, secure storage that may be enhanced by biometric security features, aesthetics, division of the storage container into compartments, etc. In some embodiments, alternative to or in addition to the storage container, the mobility aid device may be equipped with one or more hooks or other suitable structures for connecting the user&#39;s belongings (e.g., a grocery bag, a purse, etc.) to the body of the mobility aid device. In some examples, a base or components associated therewith (e.g., a tip of a cane or crutch, a wheel of a rollator, wheelchair, or walker) of the mobility aid device may be removably coupled to the body of the mobility aid device for reconfiguring the mobility aid device for various use cases such as traveling on different surfaces requiring different traction, width, etc., and/or the addition of further functionality by adding electronic components via a smart base (e.g., 
     the smart tip  900  or smart tip  2500  described below). 
     According to further examples herein, in use the smart mobility device user can receive applications and services from a cloud based software platform via the smart mobility device. In some examples, in use the smart mobility device user can order and receive services from a cloud based software platform via the smart mobility device. In some examples, in use the smart mobility device user can order and receive services from a cellular network via the smart mobility device. In further examples, in use the smart mobility device a user can receive applications and services from an application store via the smart mobility device. In other examples, the one or more electronic communication components can provide for entering user data into the smart mobility device using a smart device. In yet other examples, the smart device can be a smartphone, a smart watch, a smart glass, a tablet, a laptop or a computer. In still other examples, in use the display can provide information about the user progress on a game based on user targets. In some examples, in use the display can provide information about the result of a social game wherein the user&#39;s activity tracking can be compared to another user. In other examples, the memory can contain information about a daily activity pattern of the smart mobility device user. In yet other examples, the daily activity pattern can be a notification for the smart mobility device user&#39;s medication schedule. In another example, the notification can be sent automatically from the smart mobility device to a caregiver, a doctor or an involved party. In yet other examples, the smart mobility device can be adapted and configured for use with a mobile payment system. In further examples, the smart mobility device can be used by the smart mobility device user as a payment method for services available from a software platform or an app store. In yet further examples, the smart mobility device can be integrated with a mobile payment system. In still further examples, the smart mobility device can further include an emergency button that when pressed establishes communications with one or more of a caregiver or an emergency service (e.g., place a 911 call). 
     As will be further described below, the smart mobility device may provide reminders or alerts to the user. The smart mobility device may be configured to be connected to the user&#39;s electronic calendar and/or may be programmed with a schedule of events or appointment that the user would like to be reminded of. As an example, the smart mobility aid device can be configured to alarm, notify, and/or remind a mobility aid device user or another interested party (e.g., a caregiver) about a smart mobility device user medication schedule using a voice reminder, a vibration reminder and/or an on screen reminder, or in the case of a third party a text message, email, or the like. In another example, when a mobility aid device user takes a medication according to a medication schedule a caregiver or any other interested party (e.g., the user&#39;s doctor) may be notified. In other examples, the medication schedule of a smart mobility aid device user can be modified, entered, managed, updated and/or tracked by the mobility aid device user, a caregiver, or a doctor. In yet other examples, the smart mobility aid device can be adapted and configured to communicate and connect to a regular medicine container or a smart medication container, and/or to a merchant (e.g., a pharmacy) for re-ordering a medication of the user. The smart mobility aid device may provide a variety of other services or alerts to the user including but not limited to a daily or other periodic alert to charge the device, such as by wireless charging. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. Understanding that these drawings depict only several examples in accordance with the disclosure and are, therefore, not to be considered limiting of its scope, the disclosure will be described with additional specificity and detail through use of the accompanying drawings, in which: 
         FIG. 1  shows a rear isometric view of a mobility aid device according to some examples of the present disclosure. 
         FIG. 2  shows a rear view of the mobility aid device of  FIG. 1 . 
         FIG. 3  shows another view of the rear of the mobility aid device of  FIGS. 1 and 2 . 
         FIG. 4  shows a side view of the mobility aid device of  FIG. 1 . 
         FIGS. 5A and 5B  show rear isometric views of the mobility aid device of  FIG. 1  in two configurations including a use configuration and a folded configuration, respectively. 
         FIGS. 6A and 6B  show front isometric view of a mobility aid device with a removable storage container, shown attached and detached, respectively, from the mobility aid device. 
         FIG. 7  shows a block diagram of an intelligence system of a smart mobility aid device according to the present disclosure. 
         FIG. 8  shows a partial view of the base of a mobility aid device illustrating functionality of the smart mobility aid device including enhanced safety and connectivity features of the mobility aid device. 
         FIG. 9  shows a partial view of an upper portion of a mobility aid device including the backrest and illustrating functionality of the smart mobility aid device including enhanced safety, connectivity and adjustability features of the mobility aid device. 
         FIG. 10  shows a portion of the mobility aid device including a handle with electronic components of the mobility aid device and a charging assembly for the mobility aid device. 
         FIGS. 11 and 12  show a top and a bottom view, respectively of the mobility aid device of  FIG. 1  showing additional functional and aesthetic elements. 
         FIG. 13  shows an isometric view of a mobility aid device according to further examples of the present disclosure. 
         FIG. 14  shows an upper portion of the mobility aid device of  FIG. 13 , illustrating components and enhanced functions of a smart mobility aid device according to the present disclosure. 
         FIGS. 15A and 15B  show examples of a handle of a smart mobility aid device according to the present disclosure. 
         FIG. 16  shows a sequence for interchanging the body portion support of a mobility aid device according to some examples of the present disclosure. 
         FIG. 17  shows an isometric view of the mobility aid device of  FIG. 13  but with a different body portion support provided at the upper end of the body of the mobility aid device. 
         FIG. 18  shows an enlarged partial view of the arm support and handle of the mobility aid device of  FIG. 17 . 
         FIG. 19  shows components of a blood pressure sensing assembly integrated into a cuff of the mobility aid device of  FIG. 17 . 
         FIG. 20  shows a charging apparatus for charging a smart mobility device according to the present disclosure. 
         FIG. 21  shows a partial exploded view of a smart tip for use with a mobility aid device.  
         FIG. 22  shows a section view of the smart tip of  FIG. 21  taken along section line  22 - 22  of  FIG. 21 . 
         FIG. 23  shows a section view of the smart tip of  FIG. 21  taken along section line  23 - 23  of  FIG. 21 . 
         FIGS. 24A and 24B  show an example of a load bearing structure of a mobility aid device, such as the mobility aid device of  FIG. 13 , including a load sensor in a first configuration and a second configuration, respectively. 
         FIG. 25A  shows a simplified elevation view of an example of a smart tip for use with a mobility aid device, including a flexible coupling. 
         FIG. 25B  shows a cross section of the smart tip of  FIG. 25A  taken along section line  25 B- 25 B of  FIG. 25A , in an example of a tilted configuration. 
         FIG. 26A  shows a cross section of the smart tip of  FIG. 25A  taken along section line  25 B- 25 B of  FIG. 25A . 
         FIG. 26B  shows an isometric view of an example of a flexible coupling of the smart tip of  FIG. 25A . 
         FIG. 26C  shows an isometric view of an example of a foot element of the a of  FIG. 25A . 
     
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
     In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. The illustrative examples described in the detailed description and illustrated in the drawings are not meant to be limiting but are provided as examples to aid in the understanding of the claims. In other examples, changes may be made without departing from the spirit or scope of the subject matter presented herein. It will be understood that the elements or components described herein, and illustrated in the Figures, can be arranged in other combinations, such as by substituting, combining, eliminating, or modifying components in other configurations, all of which modifications are contemplated herein. 
     Examples of enhanced mobility aid devices are described herein, which may provide a wide array of additional functions beyond simply mobility assistance. Such mobility aid devices may thus also be referred to herein as smart or multi-function mobility aid devices (or simply mobility devices). Examples of smart mobility aid devices according to the present disclosure may provide a variety of functions associated with user safety, user monitoring (e.g., health monitoring) or tracking of user activity, and connectivity. Such enhanced mobility aid devices may help the user to be more independent and healthier. Additionally, sensor data from a variety of health monitoring and/or biometrics sensors integrated into the mobility aid device may be used to analyze the user&#39;s use of the mobility aid device to determine whether the user is using the device properly and/or to provide recommendation for the proper use or reconfiguration of the device or for switching to a different type of a mobility aid device, 
     Smart mobility aid devices according to the present disclosure may include sensors to collect, monitor, analyze and/or represent data including but not limited to biometrics and activity tracking, safety and emergency functions, and general connectivity of the user via the mobility aid device. The activity tracking may include tracking a number of steps, distance (e.g. miles), activity speed and/or activity type, as well as user applied pressure on the mobility aid device (e.g., for assessing/monitoring the user&#39;s strength and thus health). Various data about the user that is recorded by the mobility aid device may be used (e.g., further analyzed or tracked over time) to determine parameters relating to the user&#39;s gait, which in turn can provide information about the user&#39;s health. Biometric data may include but is not limited to blood or heart-related information such as blood pressure, blood sugar, heart rate, oxygen level/rate, ECG data, EMG data, muscle strain, humidity, hydration level, and/or body temperature. In some embodiments, safety and emergency features of a smart mobility aid device may include an emergency button, one or more lights, fall detection and warning functionality, and/or user activity pattern collection and analysis of activity pattern changes. In some embodiments, sensors may be placed on the mobility aid device walker, rollator, crutches, wheelchair, etc.) to collect and monitor user data automatically. User data, such as activity tracking data, may in some cases be presented to the user in the form of visual information, sound/voice representation or alerts, and/or vibrational feedback or alerts. A smart mobility aid device may provide the user with connectivity to other electronic devices, such as a mobile phone, laptop, computer, or cloud storage or cloud based applications associated with the user or with a caregiver or healthcare provider. The smart mobility aid device may include an external communication interface, including at least one or in some cases a plurality of electronic communication devices such as Bluetooth, and or/and a SIM card or other communication module to enable authentication and communication via a cellular network. A smart mobility aid device according to the present disclosure may analyze how a user walks using the device and advise a user on how to improve his walking pattern, recommend the use of different mobility aid device and/or give the user and/or others (such as health care provider or caregiver) information about the user&#39;s health (e.g., current metrics and/or information about patterns such as declining or improving health) or status (e.g., location). 
     One example of information that may be tracked by the smart mobility aid device (also referred to as a smart mobility device) may be distance travelled, which may be achieved, for example, by way of odometry measurements/calculations. Any suitable odometer, such as a mechanical, electro-mechanical, or computerized (e.g., magnetic-based) odometer, may be operatively associated with a rotational component (e.g., at least one wheel of the rollable mobility aid device) to track the distance traveled. The distance travelled may be stored (e.g., in non-volatile memory  524 ), transmitted to the processor  530  for use in further analysis and/or computations, and/or reported to the user (e.g., on any of the displays  332 - 1 ,  332 - 2 , etc.). As described herein, the different displays may be configured to be active (e.g., to display information) at different times depending on a detected condition or change of condition. In some embodiments, multiple displays may be active and/or display information concurrently. For example, one display (e.g., display  332 - 2 ) may provide one type of information (e.g., distance travelled and thus functioning as an odometer), while the other display (e.g., display  332 - 1 ) concurrently or on-demand. responsive to pushing a button, provides a different type of information or functionality, such as displaying a time of day, information about incoming call or other notification (e.g., upcoming appointment) or alert (e.g., low battery), settings for reconfiguring functions, or any other interface related to functionality of the intelligence system, without interruption to or affecting the functionality or display on the first display. At least one of the displays (e.g., display  332 - 2 ) may be configured to display information thereon (e.g., an odometer reading) in a size suitable for consumption by the appropriate demographic of user. For example, the display may display the odometer reading (e.g., distance travelled) in a size which an elderly user can perceive without vision enhancement. The display font size may be adjustable by the user (e.g., by a user interface provided on the other display and/by an app on the user or caregiver&#39;s smart phone, which transmits the settings to the smart mobility aid device). The smart mobility device may be configured to track and optionally display odometer readings of different categories (e.g., a trip distance travelled, period distance travelled such as in a day, week, bi-week, a month, or any other period of time that may be set by the user or caregiver, or total distance travelled cumulative for all trips or periods of use of the smart mobility device after initial activation by the user). In addition to odometer readings, the display may provide other information related to distance travelled, such as congratulatory or encouraging messages, comparison to other users, comparison to a previous day or other period, and information about trends or combinations thereof (e.g., indicate an increase of walking as tracked over a week, month, etc., with a congratulatory or encouraging message). 
     Components used to obtain odometry measurements include, but is not limited to, mechanical mechanisms, video, electro mechanical sensors, optical, magnetic sensors. Distance tracking or odometry may be achieved, for example, using a mechanical odometer (e.g., a mechanical counter which uses a toothed ring and finger to count revolutions of a wheel or shaft), a magnetic sensor (e.g., a Hall effect sensor or other suitable magnetic sensor), an optical interrupt sensor, and/or any currently known or later developed computerized odometer (e.g., one using a magnetic sensor to count revolutions). One specific and non-limiting example of a magnetic sensor, which can provide suitable resolution, may be the TRIAXIS sensors provided by MELEXIS or other suitable miniaturized 3D magnetic sensor. The sensor may be located at a wheel or individual sensors located at each of the wheels of the mobility aid device, and the sensor data may be coupled to the processor  530 , The sensor data may be coupled to other components of the intelligence system (e.g., processor  530 ) via any suitable communication link (e.g., individual/dedicated wiring or cable harness for each sensor, a common serial bus (e.g., a 1-wire two-way communication bus) or other suitable communication link. Utilizing two-way communication links to the location of sensors in the wheels may enable additional functionality such as providing light (e.g., LED) sources, buttons (e.g., emergency button), speakers, microphones or others to be located peripherally (e.g., on parts of the frame remote from the processor) and supported (e.g., electronically connected to the processor) by the same bus. 
     As described, distance travelled may be a useful bit of information, which can also be used in combination with other information to derive yet additional information or bio-metrics about the user (e.g., gait measurements). For example, the gait of a typical user when using a walker may be described as a rhythmic step and slide of the walker. The distance of the slide each time may have a specific character. If this character changes this may be an indication of a change in health status. Additional utility is achieved by including an odometer on both right and left wheels. Not only does it provide redundancy and double the data available, but it can also detect asymmetry of motion that may be indicative of particular health status change, including the onset of a stroke. 
     A smart mobility aid device may be configured to use a sensor to recognize an authorized user. Upon recognizing an authorized user, the smart mobility aid device may power up, unlock, display or play a welcome message or take other actions. For example, a smart mobility aid device may be configured to turn on and off automatically, e.g., responsive to a detected grip by the user or other contact or proximity of an authorized user with the mobility aid device. For example, the mobility aid device may include a grip sensor positioned in the handle to detect the handle being gripped. The grip sensor may be in communication with a processor configured to power up a display (e.g., either or both of the displays  330  or  332 - 2 ) responsive to the handle being gripped. One or more sensors, such as provided in a grip portion of a handle of the mobility aid device, may automatically turn the power on to one, some or all of the electronics on the mobility aid device, upon detection of the grip, contact, proximity, or other recognition of the user. In other examples, the detected grip, contact, proximity, or other recognition of the user may power or activate certain ones of the electronics or function (e.g., a camera and/or display, certain safety functions such as automated lighting functions, depending on ambient lighting conditions) but not others (e.g., communication functions such as to transmit user data and/or place voice/VIOP calls) until an authorized user has been authenticated by the device. As described further below, the smart mobility aid device may be configured for self-charging (e.g., via one or more energy harvesters) and/or equipped with a charging circuitry for receiving electrical power from an external source (e.g., via a wired or wireless connection to an external power source). Wireless charging of the mobility aid device may be achieved via any suitable wireless charging mechanism (e.g., via inductive charging, whether Qi compliant or not, via inductive radio or resonant charging). In some embodiments, a charging apparatus for a mobility aid device may be further configured to enhance the ease of use by including a magnetic coupling that assists with the alignment of the mobility aid device to the charger. In embodiments, the base of the mobility aid device may be configured to allow the user to tailor the device for different use conditions. For example, a component of the device that contacts the ground, such as the foot or tip of a cane or crutch or the wheels of a rollator, wheelchair, or walker may be interchangeable allowing the user to couple a different such component (e.g., wheel of different diameter or providing different level of cushion, or a tip with a different pliability or number of contact points) depending on the use condition. 
       FIGS. 1-12  illustrate views of a smart mobility aid device  100  according to the present disclosure, in this case configured as rollator  101 . The rollator  101  includes a frame  110 , which supports two handles  200 , one or both of which may include electronic components for providing the enhanced functionality of a smart mobility aid device  100  according to the present disclosure. In the example shown, the frame is configured to be rolled along a support surface responsive to force applied by a user. The frame includes a plurality of wheels for rolling contact with the support surface, and a seat positioned above the plurality of wheels. For example, the rollator  101  includes a display  332 - 2  positioned on the frame to face the user&#39;s back when the user is seated on the seat. The rollator  101  includes a handle configured to be gripped by the user for applying the force. The display  332 - 2  may be powered on, responsive to the handle being gripped. As shown for example in  FIG. 1  and described further below, the rollator  101  may include a user interface  300  at least some of the components of which are provided, in this example, on the handle  200 . For example, the rollator  101  may include an additional display  330  arranged on the frame to be visible to the user when the user is seated on the seat. For example, the rollator  101  may include a display  330  located on the handle  200 . Both the display and the additional display may be visible to the user when gripping the device for walking. The handle  200  may include one or more user controls (e.g., emergency button  310  and light controls  320 ) which may be implemented as mechanical user controls or as touch-sensitive controls which may be separate from or an extension of the display  330 . User controls may be located on a side of the handle opposite the display. In some examples, the portion of the user interface  300  embedded in the handle may be provided substantially by a touch sensitive display, which provides both the display and control functionality associated with the intelligence system of the mobility aid device  100 . As further described below, the electronic components of the smart mobility aid device may be built into the handle  200  and/or frame  110 . As will be appreciated, and while components of the handle  200  including user interface features of the mobility aid device, are described here with reference to a handle of a rollator, the handle  200  may have a different suitable shape and be provided on a different type of a mobility aid device, such as a crutch (as in the examples in  FIG. 13-20 ) or another type of a mobility aid device including but not limited to canes, walkers, scooters and wheelchairs. 
     The frame  110  is configured to be rolled along a support surface (e.g., the ground) responsive to a force (e.g., pushing force) applied by a user. The frame  110  is thus provided with a plurality of wheels  114  for rolling contact with the support surface. In the example in  FIG. 1 , the rollator includes four legs  112  at the end of each of which is a wheel  114 . In other examples, the mobility aid device  100  may include a greater number of wheels (e.g., in some cases, a plurality of wheels may be provided at the end of each leg) or a fewer number of wheels. In some examples, the mobility aid device  100  may be a walker and include fewer number of wheels than legs. In some examples, the wheels  114  may be arranged such that front wheels and the rear wheels of the mobility aid device  100  are substantially in-line. In other examples, the wheels may not be in-line. For example, as shown in  FIG. 2 , the rear wheels  114 -R may be spaced farther apart from one another than the front wheels  114 -F to define a wider base are the rear, which may provide a more stable base at the rear of the mobility aid device  100  where a substantial portion of the user&#39;s weight is applied. 
     As further shown in  FIG. 1 , the frame  110  supports a seat  130  and at least one handle  200  configured to be gripped by the user, such as when walking with the assistance of the mobility aid device  100 . In the example in  FIG. 1 , the frame  110  includes a left frame portion  110 - 1  and a fight frame portion  110 - 2 , each of which is associated with a respective handle  200 - 1 ,  200 - 2 . The frame  110  may be implemented using hollow tubular members. The hollow tubular member may have circular, oval, or circular-flattened, or a cross-section having other regular or irregular shape, as may be desired for function or aesthetics. The hollow interior of the tubular frame members may enable the installation of the wiring for connecting the various electronic components (e.g., sensors, display and/or processors) internally to the frame structure thereby concealing it from view, which may enhance the aesthetics of the mobility aid device  100 . In the particular example shown in  FIGS. 1-4 , the right and left frame portions are symmetric and each includes an upper tubular frame member  117 , which is coupled, via the frame junction  113 , to a front lower frame member  119 -F and a rear lower frame member  119 -R, each of which terminates at a respective front and rear wheel  114 -F and  114 -R to define a front and rear leg of the mobility aid device  100 . The frame  110  of the mobility aid device  100  may be adjustable to suit users of different stature. For example, a length of a portion of the frame, such as the length of each of the upper frame members  117  may be adjustable (e.g., via push buttons  115  shown in  FIG. 4 ) to enable adjusting the height of the mobility aid device to suit different users. The height adjustability may be effected by the use of telescoping members for any of the frame members, such that depressing the push button allows the telescoping members to move relative to one another and releasing the push button locks out the telescoping members preventing relative movement. The frame may be adjustable at multiple locations, for example, at a location above the frame junction  113  (e.g., to adjust for different user heights) and at a location below the frame junction  113  (e.g., at a location along the front lower member  119 -F such as to lengthen the member  119 -F and thus increase the side of the base of the mobility aid device). A variety of other adjustments may be provided to enable further tailoring of the mobility aid device to differently sized users. 
     A mobility aid device may include a frame that is foldable such that the device can be provided into a storage configuration, which is more compact than a use configuration. For example, the left and right frame portions  110 - 1  and  110 - 2  may be movably coupled to one another to allow the mobility aid device  100  to be folded into a more compact configuration (e.g., for transport and/or storage), e.g., as shown in  FIGS. 5A-5B . Referring also to  FIGS. 2 and 3 , the left and right frame portions  110 - 1  and  110 - 2  may be coupled together using a folding linkage  120 . The folding linkage  120  includes a corresponding left link  122  pivotally coupled to the left frame portion  110 - 2  at a left pivot joint  126 , and a right link  124  pivotally coupled to the right frame portion  110 - 1  at a right pivot joint  128 . The left link  122  extends from the left frame portion  110 - 2 , and specifically from the left pivot joint  126  toward the right frame portion  110 - 1 , and the right link  124  extends from the right frame portion  110 - 1 , and specifically from the right pivot joint  128  toward the left frame portion  110 - 2 , The left and right links  122  and  124 , respectively, are arranged to pivot with respect to one another about a mid-portion  121  of the folding linkage  120  so as to move in a scissor action when the frame  110  is folded (e.g., into the compact configuration) and unfolded (e.g., into the use configuration). While the links  122  and  124  pivot relative to one another, the links need not be pivotally coupled to one another. In an example arrangement shown in  FIGS. 1-3 , each of the links  122  and  124  is implemented using a plurality, in this case a pair, of parallel spaced-apart link members. Each set of link members is pivotally connected to the respective side of the frame via the respective left or right pivot joint, which in this example is implemented as a tubular member pivotally supported on a pin fixed to the frame. The spaced-apart left link members are interleaved with and do not contact the right link members. 
     The seat  130  is coupled to the frame  110  (either removably or fixedly) and operatively positioned above the wheelbase to support the user in a seated position. The seat  130  is supported on the frame between the left and right frame portions  110 - 1  and  110 - 2  in a manner, which does not impede the folding of the frame. In the present example, the seat  130  extends between the left and right frame portions, in some cases connecting the left frame portion to the right frame portion. In the present example, the spaced-apart link members provide a support for the seat  130 . The seat support in the present example is implemented using a pair of left and right seat bars coupled to the free ends of the links  122  and  124  and extending generally horizontally from the rear towards the front of the rollator  101 , with the seat being connected to span the distance between the two seat bars. In other examples, the seat may be differently supported on the frame, such as being fixed directly to the frame or coupled to support structures fixed to the frame. The seat can be made of any suitable material such as fabric, leather, plastic, and/or composite materials. In some examples, at least a portion of the seat, such as a middle portion, may be flexible to allow the seat to bend or fold (e.g., as shown in  FIG. 5B ), enabling the folding of the mobility aid device  100 . 
     The seat  130  may include one or more load sensors, e.g., one or more load cells or strain gauges. The load sensors may be configured to measure the weight of the user in a sitting position and transmit information associated with the user&#39;s weight to the processor (e.g., processor  530 ). The processor may be configured to display the information on at least one of the displays (e.g., display  332 - 1  or  332 - 2 ). One or more load cells or other load measuring devices operatively associated with the seat may be used to track the user&#39;s “seated weight” over time. While the “seated weight” may not be indicative of the user&#39;s actual weight, tracking of the user&#39;s “seated weight” over time can be used to derive trends (e.g., weight loss or weight gain, leg strength increase or loss based on a decreasing seated weight measurement). In some examples, a seated weight measurement (or an average over a period of time such as over the duration of time during which the seat is in continuous use in a given instance) may be automatically recorded each time the user is detected to be in a seated position. The seated weight measurements over a day, a week, or another duration of time may be collected and analyzed for trends, either by the processor of the mobility aid device, or by a remote processor such as a processor of a computing device of the user or another person associated with the user. 
     The mobility aid device  100  may be provided with a folding handle  192 , which may in some cases be provided on the seat  130 . In the example, in  FIG. 3 , the folding handle  192  is generally centrally positioned on the seat  130  to allow the user to grasp the folding handle  192  lifting the seat  130  away from the support surface. As the seat is lifted away from the support surface, the lower portion of the frame of the mobility aid device  100  pulls to the ground causing the folding linkage to scissor and fold the mobility aid device  100 , e.g., as shown in  FIG. 6B . As shown in  FIG. 6B , the left and right frame portions are closer to one another than in the use configuration, thus the frame and correspondingly the whole mobility aid device  100  is provided in a more compact configuration. Components of the smart mobility device that may be frequently touched, such as the handle or components thereof (e.g., the grip portions and/or brake levers), the folding handle, and various touch sensors on the frame, may be provided with a self-cleaning feature (e.g., a UV cleaner, which may be embedded in the handle or in the charging apparatus for cleaning the mobility aid device while charging), which can be particularly useful in use cases where the same mobility aid device is shared among users, such as in a hospital or other care facility. 
     As further shown, e.g., in  FIG. 2 , the mobility aid device  100  may also include a backrest  160  and a storage container  180 , each of which may be connected between the left and right frame portions. For example, the backrest  160  may connect the right frame portion to the left frame portion. The backrest  160  may be provided by any suitable structure positioned elevationally above the seat such as to provide support for the user&#39;s back when the user is seated. Thus, the backrest  160  may be ergonomically shaped to define a curve between the left and right frame portion. In some examples, the frame includes left and right frame portions arranged symmetrically on opposite sides of the seat, and a backrest extending between the left and right frame portions, and display built into the backrest. Similar to the seat, the backrest, or at least one or more portions thereof, may be formed of a relatively flexible material, which is easily flexible (e.g., without permanent deformation) to enable folding of the mobility aid device  100 . Some of the enhanced functionality of the smart mobility aid device (e.g., a display, camera, light source, microphone, or others) may be integrated into the backrest of the mobility aid device  100 , as will be further described. 
     The mobility aid device  100  includes at least one handle  200  configured to be gripped by the user during use of the mobility aid device  100 . In the case of a rollator or walker, the mobility aid device  100  preferably includes two handles  200 , one for each of the left and right hands of the user. As described, the mobility aid device  100  may be a smart mobility device and may thus be equipped with electronics, at least some of which may be located in or proximate to the handle  200 . In examples of mobility devices, which include more than one handle, such as in a walker, rollator, or a set of crutches, the electronics enabling enhanced functionality of the mobility aid device may be provided in only one of the two handles, with the other being essentially a “dumb” handle, that is a handle without any enhanced functionality associated with biometric monitoring, communications or display of data. In yet other examples, one of the pair of handles may be provided with limited functionality, such as biometrics monitoring, while the other handle may include the full functionality of the multi-functional mobility aid device and/or house the electronic components that enable the various smart functions of the mobility aid device, such as connectivity (e.g., external communication), display functions, processing of user data, etc. 
     In mobility aid devices of certain types, for example a rollator  101 , a wheelchair or other mobility aid device with one or more wheels, the handle  200  may include a grip portion  210  and a brake lever  208 . In other examples, the handle  200  may not be provided with a brake when the handle is on the end of a leg that is not equipped with a wheel, such as in the case of a walker, crutches or a cane. The grip portion  210  may extend from a handle housing  220  and may be configured to be gripped by the user. The handle housing  220  may enclose one or more of the electronic components (e.g., one or more sensors, a processor, at least a portion of the display, and other circuitry for implementing the enhanced functionality) of the mobility aid device  100 . 
     The handle (e.g., handle  200  of mobility aid device  100  or handle  800  of the mobility aid device  700 ) may include one or more of the electronic components that provide the intelligence system of a smart mobility aid device according to the present disclosure, The processor may be communicatively coupled to one or more sensors operatively arranged on the frame to detect a change of condition. The smart mobility device may include a light source (e.g., lights  512 - 1  or  512 - 2  of the rollator  101  or light  804  of the mobility aid device  700 ) configured to operate in one of a plurality of illumination modes based on the change of condition. For example, the handle may include health-monitoring sensors, sensors that detect biometrics of the person using the mobility aid device, a grip detection sensor, a light sensor, a finger print sensor, a GPS component, a mobility aid device user health status indicator, a load cell, a strain gauge, a camera, a proximity sensor, or a touch sensor. For example, one or more of the above sensors may be configured to communicate sensor data to the processor, and the processor may be configured to generate a seated mode signal upon determination, based on the sensor data, that the user is seated on the seat. A seated mode signal may cause a display (e.g., the display  332 - 2 ) to power down responsive to the seated mode signal. The handle may include a main user interface of the device, although additional user interface components such as additional displays, emergency buttons, speakers, microphones and or indicator lights may be provided at other locations on the frame. Health-monitoring and biometric sensors may include but are not limited to sensors operatively arranged on the handle to monitor parameters associated with the user&#39;s health or biometrics (e.g., for user identification) while the user is using the mobility aid device such as sensors capable of measuring blood and/or heart-related information such as blood pressure, blood sugar, heart rate, oxygen level/rate, an ECG sensor (e.g., using a single or pair of electrodes, each in the respective handle in the case of two-handle mobility aid devices), fingerprint sensor, etc. A status indicator of the smart mobility device, e.g., in the form of a light, vibration or an audible sound, may be used to indicate a normal status of the user (e.g., a green light), or an emergency status (e.g., an elevated heart rate, low blood sugar, irregular ECG, etc.), for example via a different colored light (e.g., a red light), an audible alert or a vibration of a component of the mobility aid device such as the handle. An emergency status may also be used to initiate an emergency protocol of the mobility aid device such as automatically sending an emergency transmission (e.g., test or initiating a call for help) or providing a recommendation to the user to seek help. 
     The smart mobility aid device may be configured to use one or more of the above sensors and/or additional sensors to track user activity such as to help the user improve their health. For example, the smart mobility aid device may alternatively or additionally include one or more additional sensors selected from an accelerometer, a gyroscope, a MEMS magnetometer, a barometric pressure sensor, a temperature sensor, an IMU, or load cells, and the like. The sensor data recorded by any of the sensors of the smart mobility device may be coupled to a processor (e.g., processor  530 ) which may be configured (e.g., via rule-based or machine-learning algorithms) to analyze the sensor data and extract information about the user&#39;s activity and health trends. 
     In some embodiments, electronic components associated with the intelligence system of a smart mobility device (e.g., the one or more sensors, processor, memory and/or external communication interface) may alternatively or additionally be provided elsewhere on the frame. For example, the electronics for a smart mobility aid device may be provided in the base (e.g., removable tip) of a mobility aid device, which may enable a conventional (e.g., “dumb”) mobility aid device such as a cane or a crutch to be retrofitted with a “smart” base and thus reconfigured into a smart mobility device. While such reconfiguration may not provide the reconfigured mobility aid device with a display, the display function may be provided by the user&#39;s mobile phone or other smart wearable device, such as a smart watch a fitness tracker or the like. As described, the intelligence system of a smart mobility device of the present disclosure may be equipped with an external communication interface using one or a plurality of different types of electronic communication components) to enable communicatively coupling the smart mobility device to other electronic devices. 
     As shown, e.g., in  FIGS. 1 and 8A-8B , the mobility aid device  100  may include a storage container  180 , which in some cases may be removably coupled to the frame  110 , so as to provide the mobility aid device  100  with a modular storage capability. The modular storage capability may enable the user to quickly and easily re-configure the storage area of the mobility aid device  100  for different use cases. For example, a storage container having different properties, such as being made from different fabrics, having different sizes or durability, and/or in some cases having integrated cooling (e.g., for storing groceries or other items that may require cooling or maintaining a cooler temperature than the ambient temperature), may be configured to be interchangeably removably attachable to the frame for easily changing the functionality and/or aesthetics of the mobility aid device  100 . The removable storage container  180  may be attachable to and detachable from the frame  110  using any suitable mechanical or electro-mechanical mechanism. For example, the storage container  180  may be fixed to a set of elongate members (e.g., left and right posts  182 ), each of which is removably insertable into a respective passage in the seat frame. Different attachment mechanisms, additionally or alternatively including rails, hooks, mechanical or magnetic latches or other types of locking mechanisms, may be used to secure the storage container to the frame. For example, the folding linkage may removably support the storage container. In some examples, the seat is coupled to the frame using left and right bars extending from the left and right frame portions, respectively, and the storage container is silidably coupled to the left and right bars. The storage container may be provided with a cover  184 , which may be partially or fully removable (e.g., via a zipper, buttons, Velcro, etc.) to expose the interior of the storage container  180 . At least a portion of the storage container  180 , for example a middle portion, may be flexible to accommodate the folding of the mobility aid device  100 . In other examples, when the device is utilized with a generally rigid storage container, the storage container  180  may be removed before folding the mobility aid device  100 . 
     As described, a mobility aid device according to the present disclosure (e.g., rollator  101 ) may have enhanced capability in that the mobility aid device may provide a variety of additional functions beyond simply mobility assistance. To that end, the mobility aid device, also referred to as a smart mobility device, according to any embodiment in the present disclosure may include an intelligence system  500 , described now further with reference also to  FIG. 5 . The intelligence system  500  maybe configured to record data (e.g., sensor data), which may be used to monitor the user&#39;s activities, which may be used for detecting emergency conditions (e.g., a fall of the user). The intelligence system  500  may include one or more electronic components (e.g., sensors, a processor, memory, etc.) iintegrated into the mobility aid device  100  to provide one or more of the additional functions of the mobility aid device  100 . For example, as shown in  FIG. 5 , the intelligence system  500  may include the one or more sensors  510 , such as one or more cameras, motion and/or acceleration sensors (e.g., accelerometers and/or inertial measurement units (IMUs), proximity sensors (e.g., an optical proximity sensor), touch sensors (e.g., capacitive, resistance, or piezo switches and/or pressure sensitive capacitive sensors, etc.), load or pressure sensors (e.g., a load cell), and/or other types of sensors, one or more of which may be configured as biometric sensors. The intelligence system  500  may also include one or more light sources  512 , microphones  514 , speakers  516  and/or other feedback devices. The system may also include one or more displays (e.g., first and second display  520 - 1  and  520 - 2 ), non-volatile memory  524 , an external communication interface  518 , and a processor  530  in communication with the various electronics for controlling or performing the functions of the intelligence system  500 . While the processor  530  is illustrated, in block diagram form as a single component, it will be understood that multiple processor circuits may be used to implement the various computational and/or control functions of the processor  530 . The processor  530  may be implemented using any suitable combination of hardware and software components. The processor  530 , which may be implemented as a single or a plurality of operatively arranged integrated processing circuits (e.g., CPUs, GPUs), application-specific integrated circuits (ASICs), microcontrollers, or any combination thereof, may include or be communicatively coupled to one or more additional controllers  542  configured to drive mechanical components  540  of the system  500 , such as brakes, rotational drives, pumps or others as may be used for autonomous operation of the mobility aid device  100 , or for other functions). The processor  530  may also be in communication with a power management component  526 , such as for automatic powering up and down of the various electronic components, as described herein. 
     The mobility aid device  100  may include an audio system including at least one speaker integrated into the mobility aid device  100 , which may be activated during a voice call and/or for audio playback. The intelligence system  500  of the mobility aid device may also include an external communication interface  518 , which may be implemented using any suitable electronic communication component such as Bluetooth, ZigBee, WiFi, or a cellular (e.g., 4G, 5G, LTE) communication component, or any other suitable wireless communication link currently known or later developed. The mobility aid device  100  may utilize the external communication interface  518  for various functions such as to transmit data (e.g., user activity data) recorded by the device to an external computing device (e.g., the user&#39;s or a caregiver&#39;s laptop, cellphone, or other electronic device), to receive data such as to stream audio from a service provided, to place phone calls and/or send text messages, and others. The external communication interface  518  may be configured for establishing a link between the mobility aid device  100  and other wireless communication enabled devices of the user, such as the user&#39;s hearing aid, cell phone, etc. in which scenarios, the mobility aid device  100  may function as an intermediate node in the network of connected user devices. For example, the mobility aid device  100  may be configured to receive streamed audio (e.g., from a service provider or during a phone call) and either playback the audio (via the speakers of the device) or transmit the audio to the user&#39;s hearing aid, which can be based upon a user preference and/or the toggling of a switch on the device. To preserve the small form factor of the mobility aid device and still enable communication via a plurality of different methods (e.g., Bluetooth, ZigBee, WiFi and/or cellular), one of the handles may include an electronic communication component of a first type (e.g., a Bluetooth or a WiFi communication component), while the other handle may include an electronic communication component of a second different type (e.g., a WiFi or a cellular communication component). 
     As described, the mobility aid device  100  (e.g., rollator  101 ) may be configured to detect a fall of the user. The processor  530  may use sensor data from one or more of the sensors  510  embedded into the mobility aid device  100  to determine whether the user has fallen. For example, the mobility aid device  100  may include a sensor near the base to detect a fall of the user, and the processor may be configured to generate an emergency transmission signal responsive to a detected fall. For example, the processor  530  may be configured to receive image data from at least one camera, which has a field of view including an area around the base of the mobility aid device  100 , and the processor  530  may analyze the image data (e.g., using any suitable image processing technique such as image segmentation and/or an appropriately trained machine-learning model) to identify an object near the base of the mobility aid device  100  that could indicate that the user has fallen (e.g., an object matching a portion of a person&#39;s upper body, which in normal circumstances would not be located near the base of the mobility aid device  100 ). In some examples, the processor may perform image data analysis for fall detection only when the processor fails to detect contact of the user with the device, such as lack of touch or force being applied to the handles, to the frame or the seat. The mobility aid device may utilize any number of operatively arranged cameras, including a rear-facing, a forward-facing, or peripherally facing cameras for image data collection. 
     In some examples, a mobility aid device (e.g., the rollator  101 , a smart wheelchair, or the mobility aid device  700 ) may include passive fall detection components. For example, a mobility aid device may contain an emitter that emits a radio frequency signal and receives and analyzes backscattered energy from that signal. Such components may be able to detect a user&#39;s fall even when the user is not in contact with or in close proximity to the mobility aid device. For example, a mobility aid device may include an Ultra Wide Band (UWB) radio emitter and detector and/or a Frequency Modulated Continuous Wave (FMCW) continuous wave radar backscatter emitter and detector configured to detect a fall of a user. Illustrative examples of such components include the fall detection sensor by Totemic Labs, Inc., as described for example in U.S. Pat. No. 10,617,330, or the device by Vayyar Imaging Ltd., as described for example in International Patent Pub. No. WO 2020/008458. 
     The image data from the camera(s) may alternatively or additionally be used by the processor  530  for other functions, such as to identify a user in a multi-user setting (e.g., when the same mobility aid device may be used by different users such as in a hospital or elderly care facility). For example, the processor of the smart mobility device may be configured to identify the user based on image data captured by a camera, (e.g., rear-facing camera  334 - 1 ) and unlock the smart mobility device for use upon identification of an authorized user. Responsive to identification of the user, the system  500  may unlock the mobility aid device  100  for use (e.g., by unlocking the brakes and/or unlocking the electronic features of the device) and retrieve and applying user-specific settings for the mobility aid device  100 , such as illumination level settings, volume settings, emergency contacts, autonomous control parameters (e.g., speed, braking force level, etc.). For example, the processor may be configured to automatically apply user-specific settings to the smart mobility device based on recognizing an authorized user. In some such examples, the mobility aid device  100  may include at least one camera which is operatively arranged on the frame (e.g., positioned and/or oriented) to include in its field of view an area that is expected to include a portion of the user&#39;s upper body, particularly a portion that is expected to include the user&#39;s head, particularly when the user is positioned proximate the mobility aid device  100  with the user&#39;s hands generally in position to hold the handle(s). In some examples, instead of cameras, a different type of sensor, or a combination of sensors may be used to identify a user in proximity, or a specific user, and to unlock and/or apply user-specific settings. For example, a proximity sensor (e.g., in a suitable location in the frame or associated with the user interface  300 ) or touch sensor (e.g., in the grip portion  210  or associated with the user interface  300 ) may be used to detect a user in proximity or touching, respectively, the mobility aid device  100 , responsive to which the intelligence system  500  may unlock the device for use. A variety of other sensors, alternative to a camera or in addition thereto, may be used to identify a specific user, such as biometric sensors (e.g., a fingerprint reader, which can be embedded into the grip portion or elsewhere on the handle, such as on a functional button that&#39;s part of the user interface  300 ). 
     The image data from the camera(s) may additionally or alternatively be used for deriving gait measurements. To that end, a rear-facing camera  334 - 1  may be operatively arranged on the frame (e.g., positioned and/or oriented) to include in its field of view an area that is expected to include a portion of the user&#39;s body (e.g., the lower body, the user&#39;s legs and/or feet). For example, the rear-facing camera  334 - 1  may be positioned to include feet of the user within the field of view of the rear-facing camera  334 - 1 , and the processor may be configured to generate a stride length measurement based on a distance between the feet as detected by the rear-facing camera  334 - 1 . The image data from such camera(s) may be processed by the processor  530  to extract a distance between the user&#39;s feet while walking, which may be averaged over a period of time and/or a plurality of steps, to generate a gait measurement (e.g., a gait length, gait speed, etc.). Short-term gait trends may be used to identify an emergency condition. For example, if the user&#39;s gait, analyzed over a short period of time such as during 5-10 minute intervals, shows variations of statistical significance, this may indicate that the user is experiencing loss of balance, which may be a precursor to a fall. An alert may be generated, which may be externally transmitted to a caregiver, and/or a suggestion may be provided (via voice or display) to the user to call for help. The gait measurements may be further analyzed by the processor  530  or an external device (e.g., on a longer-term basis, such as daily, weekly, or other periodic basis) for monitoring the user&#39;s health. As an example, a trend indicating a narrowing of the user&#39;s gait may indicate declining health, while a steady or increasing gait length may indicate a stable or improving lower body strength of a user and thus consistent or improving health. Gait measurements may be obtained from other sensor data, alternatively or additionally to image data from the camera(s). For example, other sensors, such as load cells, pressure sensors, accelerometers, IMUs, rotation sensors associated with a wheel, etc., may be used to identify a gait or step cadence. For example, a smart mobility device may include a sensor operatively associated with a wheel of the plurality of wheels to measure rotation of the respective wheel, and the processor may be configured to generate a gait measurement based on the measured rotation. The cadence may be used, in combination with distance traveled, such as may be obtained from sensors that monitor rotation of the wheels (e.g., rotary position or revolution count sensors, like Hall effect or optical interrupt sensors), or from a GPS or other geolocation sensor that more globally monitors distance traveled, to derive a gait measurement (e.g., by dividing the distance traveled by the number of steps to determine a distance per step, and thus obtain a gait length or gait speed measurement). 
     In some examples, the smart mobility device can capture other data related to the user&#39;s physical movement or position and can use that data as a basis of other indications of user health. For example, a camera of the smart mobility device may be used capture posture data of the user. For example, the rear-facing camera  334 - 1  can capture image data including a portion of the user&#39;s body (e.g., an upper portion of the user&#39;s body. to the processor can generate a posture measurement based on image data captured by the rear-facing camera  334 - 1 . The processor can use posture data as an indication of the user&#39;s health and may develop trends of posture over time which may indicate improving or declining user health. 
     In some examples, the camera(s) and/or other types of sensors (e.g., a proximity sensor) may be used for obstacle detection. Particularly in scenarios when the mobility aid device  100  is used with a storage container  180 , a significant portion of the area in front of the device may be blocked from view, thus obstacle detection and avoidance or alerting by the mobility aid device  100  may be advantageous. For example, a forward-facing camera  334 - 1  may be operatively arranged on the frame (e.g., positioned and/or oriented) to include in its field of view an area in front of the device and in some cases, specifically focusing the view ahead of the base of the device. Image data processing, as described above, can be used to detect objects in the path of the rollator  101 . In the case of autonomous or semi-autonomous rolling of the rollator  101 , the object detection may be used for steering for obstacle avoidance, in manual mode, the object detection may be used to provide an alert to the user. For example, a forward-facing camera  334 - 1  arranged on the frame for detecting obstacles in a path of the smart mobility device, may communitive to the processor configured to generate a warning upon detection of an obstacle in the path of the smart mobility device. 
     The mobility aid device may be equipped with at least one emergency button  310 , and in some examples a plurality of emergency buttons, which the user can activate to send a distress or emergency signal, such as if the user falls, feels in danger, or requires assistance. In the example rollator  101 , at least one emergency button is provided in at least one of the handles, in this example in the right handle but in other cases, the button may be in the left handle, or an emergency button may be provided on both handles, which can be useful if one of the user&#39;s hands is injured or has reduced dexterity. In yet other examples, one or more additional emergency buttons may be provided elsewhere on the device, such as peripherally on the frame (e.g., at the frame junctions  113 ), near or integrated into one or more of the wheels, etc. While the term button is used to refer to component  310 , it will be understood that the button may be physical/mechanical button, or a soft control or button, such as one implemented by a touch sensor (e.g., capacitive, pressure, pressure-sensitive capacitive, or other suitable touch sensors) programmed to effect the function associated with the emergency button responsive to a detected touch. 
     In some examples, the mobility aid device may include one or more touch sensors embedded at various locations on the frame, and programmed such that when touched by the user, they invoke a particular response such as indicating an emergency condition. Different touch sensors may be differently configured. For example, touch sensors located near the handles may be programmed (e.g., by the user or caregiver) to invoke non-emergency functions such as turning on a light, while touch sensors near the base may be programmed to invoke emergency functions, such as initiation an emergency transmission (e.g., a text message, a call) and/or activating emergency lighting of the device. In some examples, an emergency function such as an emergency transmission may require user verification, for example via voice command. In other words, a touch of the emergency button or other emergency touch sensor may activate an appropriately located microphone (e.g., a microphone near the button/touch sensor engaged by the user) to receive the appropriate voice command, such that an emergency transmission may not be initiated until a confirmation is received via the microphone. In some examples, the user may need to follow a voice prompt and provide commands to the mobility aid device  100  via the microphone. Upon confirmation of the emergency condition (e.g., a fall of the user), the device may engage the pre-programmed emergency protocol for the specific emergency condition, e.g., activate its sound system, which may include a combination of microphone(s) and/or speakers, to alert other users and seek help, activate emergency lighting, initiate an emergency transmission via the electronic communication component, etc. In some embodiments, the mobility aid device may be configured to automatically activate one or more microphones of the mobility aid device upon detection of an emergency condition such as a fall and may be further configured, upon detection of the user&#39;s voice via the microphone, to automatically initiate an emergency transmission (e.g., a voice call based on the audible information detected via the microphone, a text message of the audible information detected by the microphone, etc.). For example, the mobility aid device  100  may include a plurality of microphones including a first microphone located elevationally closer to the handle than a second microphone located elevationally closer to the plurality of wheels, and the second microphone may be automatically activated upon detection of a fall. 
     A mobility aid device (e.g., the rollator  101  or the mobility aid device  700  described below) may use a microphone to capture voice commands from the user to activate or de-activate any of the functions of the respective devices. For example, the rollator  101  or a wheelchair may take voice commands to control brakes, rotational drives, pumps or other components as may be used for autonomous operation of the mobility aid device  100 . For example, the rollator  101  could respond to spoken command such as “stop”, “left”, “right”, “back”, faster“, “slower”, or the like by taking the corresponding action. A mobility aid device may take voice commands related to making a phone call or performing speech-to-text functions such as drafting a text message, email, or other communication. A mobility aid device may take voice commands to initiate an emergency response. The mobility aid device may take voice commands to control the playback of media, such a responding to commands such as “louder”, “quieter”, “next song”, “last song” or the like. 
     As described, the mobility aid device  100  may be configured to detect a fall of the user, and in such cases, the mobility aid device  100  may be configured to automatically trigger the distress or emergency signal, which may involve the transmission of a message (e.g., text message), the initiation of a call to emergency response and/or another designated person (e.g., a caregiver), the sounding of an audible alarm, activation or lights, or any combination thereof. In some embodiments, the mobility aid device may include a plurality of user interface components at various locations of the mobility aid device (e.g., near the top or handles of the mobility aid device, near the bottom or base of the mobility aid device), and the mobility aid device may be configured to intelligently power up or activate an appropriate user interface component based on the detected condition, such as by activating a microphone, speaker or emergency button near the base of the mobility aid device upon detecting that the user has fallen. For example, the mobility aid device  100  may include a plurality of speakers including a first speaker located elevationally closer to the handle than a second speaker located elevationally closer to the plurality of wheels, and the second speaker may be configured to automatically activate upon detection of the fall. In some cases, the mobility aid device  100  may be configured for a tiered response, where certain non-normal conditions (e.g., a true emergency like a fall) triggers an automated response, while other non-normal conditions (e.g., a predicted emergency condition, such as if the mobility aid device detects the user or the mobility aid device is unstable based on the sensor data, the user is overexerted, overheated, dehydrated, or likely to lose balance), a near-emergency or distress response may be triggered, where the mobility aid device may suggest to the user to press the emergency button (e.g., by illuminating it in a steady or flashing manner) but may not automatically activate the emergency protocol. 
     In some instances, if an emergency or distress condition is detected, the intelligence system of the mobility aid device  100  may provide additional or different responses, tailored to the specific scenario. For example, and as previously described, the mobility aid device may be equipped with a plurality of microphones at various locations, such as at elevationally lower locations (e.g., near the base, such as near or embedded in the wheels), and elevationally higher locations (e.g., near the upper part of the frame, such as near or integrated into the handles). One or more of the microphones may be automatically and intelligently activated upon the detection of an emergency condition such as a fall. For example, if a fall is detected, the system may activate the microphone nearest the fallen user. In some cases, a plurality of microphones closest to the user may be activated to enhance the likelihood of the user being heard on the other side of the call. One or more of the microphones may additionally or alternatively be configured for manual activation. For example, a microphone built into the handle may be configured to be manually activated, while any of the microphones located elevationally lower than the handle may be configured primarily for automatic activation. The manual vs. automatic activation of microphones may be controllable by the user and stored into memory  524  as a user preference or setting. 
     The mobility aid device  100  may include at least one light source, which may function as a flash light, and in some embodiments, a plurality of light sources may be arranged on the mobility aid device to serve a variety of functions. As shown also in  FIG. 9 , the mobility aid device  100  may include a light source (e.g., light  512 - 1 ) on a forward facing part of the mobility aid device  100 , for example on the forward-facing side of the backrest, on a forward-facing side of the handles or the frame, or other suitable location. In some examples, one or more of the light sources may be manually activated by a light switch (e.g., switch  320 , which can be a mechanical button or switch or a soft control, such as a touch sensor). A single light switch may activate all of the lights sources (forward-facing and rear-facing), or independent switches e.g., one on one handle and one on the other or both co-located on the same handle) may be provided for different ones of the lights. The switch may also be operable to toggle among different light settings (e.g., different levels of illumination being provided by the light sources at different settings), and toggle to an OFF setting, which can be used to turn off the lights, irrespective of whether operating in a normal mode or emergency mode. 
     The light source may be operatively associated with a sensor configured to detect ambient light conditions. The light source may be configured to activate automatically upon detection of low light conditions, for example corresponding to light conditions at dawn, dusk, evenings and nights, and/or dim indoor lighting conditions. In some examples, the sensitivity of the ambient light sensor may be configurable by the user to allow the user to increase or decrease the level of lighting that triggers automated activation of the light source, such as to enhance the user&#39;s visibility when using the mobility aid device or preserve battery power, when ambient lighting is sufficient. In some examples, the light source may be operatively associated with a controller that automatically activates the light source based on location or time of day, in addition to or alternatively to ambient light conditions. The time of day and/or location that triggers activation of the light source may be programmed by the user, and in some cases associated with the user&#39;s profile such that when a particular user is identified as using the mobility aid device  100 , the appropriate user settings are automatically invoked. In yet other examples, the lights may not turn on automatically but the ambient light sensor and/or user settings may instead trigger an alert to be automatically generated to remind or suggest to the user to turn on the lights, which alert may be displayed on any one of the displays and/or provided via a different feedback mechanism (e.g., a voice alert). 
     As described, a plurality of lights sources may be located on the mobility aid device (e.g., operatively arranged at various locations around the frame) for providing a variety of functions including for enhancing the user&#39;s visibility of his or her surroundings (e.g., functioning as a flash light) and/or making the mobility aid device and thus the user more visible to others. As another example, one or more light sources  512 - 2  may be located on a rear-facing part of the mobility aid device, such as embedded into or otherwise coupled to the rear-facing sides of the left and right frame portions, a rear-facing portion of the seat frame (e.g., at the ends  144  of the bars  146 ), or other suitable location. The rear-facing lights may be used for visibility (e.g., to enhance the visibility of the mobility aid device, and thus its user, to others, including cars, pedestrians, etc.). Any of the light sources of the mobility aid device may also provide an alert function. For example, one or more of the forward-facing light sources (e.g., light  512 - 1 ), rear-facing light sources (e.g., lights  512 - 2 ), or other light sources arranged around the frame of the mobility aid device (e.g.,  512 - 3 ) may be configured to operate at different frequencies or illuminate in different colors. For example, a light may be configured to operate at a first frequency or have a first illumination color when an emergency condition has been detected and to operate at a second frequency or have a second illumination color when no emergency condition has been detected. For example, the light sources may flash (turn on and off intermittently) at a lower frequency in normal conditions, such as when the user is walking. The light sources may be configured to automatically switch to a higher frequency of flashing upon detection of an emergency condition. In some scenarios, the light subsystem may be configured to activate more sources of light as ambient light decreases and/or upon detection of an emergency condition. In the case of the latter, the frequency and/or color of the lights (e.g., changing from yellow/white to red or orange, or for rear-facing lights changing from a red to orange or remaining at red but flashing at different frequency) may automatically change upon the detection of the emergency condition. As illustrated, the light sources may be arranged at various suitable locations around the frame, e.g., as shown by lights  512 - 3 , which are embedded at the frame junction components  113  of each of the left and right frame portions  110 - 1  and  110 - 2 , on the wheels and/or the wheels&#39; rims, on the seat or storage container frames, handles, etc. In yet further examples, the lights may be configured to illuminate in different patterns based upon the condition. For example, in normal condition, lights may illuminate in an alternating pattern between the lower and upper positioned lights (e.g., illuminating the lower lights while turning off the upper ones, then switching to the upper and turning off the lower, and then repeating). In an emergency condition, as an example, the lights may be illuminated in a pattern such that they appear to circle around the frame, similar to an emergency rotating light. A variety of other suitable patterns may be used to indicate the change in condition. In addition, one or more of the light sources (e.g., light  512 - 3 ) may be integrated with other intelligence system components (e.g., with a respective button  310 - 3 , microphone and/or other user interface components located peripherally on the frame and separated from the main interface on the handle). As such, the lights  512 - 3  may also serve to illuminate to the user other controllable locations on the mobility aid device, e.g., for making an emergency transmission (e.g., for sending a text or initiating a phone call) or for speaking into the microphone/audio system of the mobility aid device. In yet further embodiments, the light sources associated with peripheral interface (e.g., communication) components may be configured to pulse or otherwise indicate to the user that they are receiving input (e.g., voice input) from the user, which can provide a piece of mind for a user that may have fallen and needs some assurance that his or her distress call is being heard. 
     A mobility aid device according to the present disclosure (e.g., rollator  101  or the mobility aid device  700  described below) may include one or more biometric sensors, which can be used for user identification, for measuring biological information and/or tracking user activity. As described above, one or more biometric sensors may be used to automatically identify a user when the user makes contact with the mobility aid device to unlock the mobility aid device for use. A mobility aid device may include a sensor configured to measure biometric data associated with the user, and a memory for storing the biometric data onboard the smart mobility device. In addition, heart rate, ECG, blood pressure, oxygen level, hydration level, temperature, grip force, and pressure or weight applied to the handles/frame of the mobility aid device and other biological information may be measured, recorded, and in some cases used to derive information about the user&#39;s health. Heart related measurements (e.g., heart rate) may be measured, while the user is gripping the handle, using a plate sensor, an optical sensor, or other suitable sensor positioned on any suitable side of the handle such as on the top or bottom side of the handle. Biological information, in some cases may be used in combination with user identification data (e.g., a fingerprint scan, picture or the like) or in some cases in place of user identification data to identify the user and unlock the mobility aid device. For example, a measured heart rate, grip strength or grip configuration or mechanics, pressure/weigh applied to the mobility aid device, or any suitable combination of biological measurements may be used by the processor for identifying the user by matching the measurements to stored information about authorized users (e.g., of stored user profiles). Measured and/or derived biological information may be stored onboard the mobility aid device  100  (e.g., in a memory  524 ) and in some cases transmitted to an external device, such as a computing device of the user, a caregiver or healthcare provider. For example, a smart mobility device (e.g., rollator  101  or the mobility aid device  700 ) may include an electronic communication component configured to communicatively couple the smart mobility device to an external computing device, and the electronic communication component may automatically, periodically transmit information about the user to the external computing device. In some examples, the memory  524  may include a removable component, such as an SD card, a flash drive, or other removable data storage device. In yet other examples, a SIM card may provide at least a portion of the memory  524 . Whether the processor stores the recorded and derived information locally or remotely may be a setting controlled by the user (and stored as a user setting), such as programming a periodicity for automatic upload of user data onto an external storage device. In scenarios in which the same mobility aid device is shared among multiple users, the upload of user activity data and/or biological information may occur automatically when the mobility aid device no longer detects that the user is using the mobility aid device. 
     The mobility aid device (e.g., rollator  101 ) may be recharged by any suitable means. For example, as shown in  FIG. 10 , the mobility aid device  100  may be equipped with a power plug  610  for insertion of a charging cable  612 , which is configured to draw power from an external power source  600 . The power plug may be connected to the processor  530  and/or the power management circuit  526  for determining the amount of power to be drawn from the external power source to recharge the onboard power source (not shown). In the illustrated examples, the charging interface (e.g., power plug  610 ) is located on the handle. This configuration may be particularly well suited for embodiments in which most of the electronics including the processor are located in the handle. This configuration may also provide for an ergonomic placement of the charging interface as a location conveniently positioned for the user (e.g., so as to not require the user to bend down to plug the mobility aid device into power). However, it will be appreciated that the charging interface may, in other examples, be located elsewhere, such as near the base of the mobility aid device. In some examples, the mobility aid device may be wirelessly charged, for example via inductive charging through one or more coils operatively arranged on the frame  110 . For example, the mobility aid device may be placed on a charging mat and use wireless power transfer between the mat and coils in the wheels or at the base of the mobility aid device. In yet other examples, the coil(s) may be placed elsewhere such as within the frame components, in the backrest  160 , the seat or elsewhere, and be configured to wirelessly re-charge the mobility aid device when the mobility aid device is positioned near a wireless charging unit, such as one mounted on a wall or otherwise positioned at the appropriate height to inductively couple to the coil(s) in the mobility aid device  100 . Other charging mechanisms including but not limited to, wireless charging, inductive charging, and conductive charging, may be used. The mobility aid device  100  may utilize a re-chargeable battery or any suitable battery technology for on-board power. In some examples, the mobility aid device  100  may include a re-chargeable battery, such as a lithium ion battery. In some examples, the mobility aid device  100  may additionally or alternatively include a non-rechargeable battery (e.g., a back-up battery). In some cases, the back-up battery and/or the re-chargeable battery may be located in a compartment within the body of the mobility aid device, which is accessible (e.g., through an access port or cover) to the user for replacing the battery without having to replace the entire mobility aid device. In some examples, the battery may be integrated into a component less expensive to replace than the full mobility aid device, such as a removable base of the mobility aid device. The battery may also be located in a removable base in examples in which the intelligence system is implemented as a “smart” base for retrofitting a “dumb” mobility device. 
     In yet further examples, the mobility aid device  100  may be rechargeable through use (e.g., while the user is walking). The mobility aid device may include one or more energy harvesting devices, which convert, for example the rotary motion of the wheels into electrical energy. As described, in some examples, one or more of the wheels may be motorized (e.g., for autonomous or semi-autonomous assisted driving), and when the wheels are not being power for assisted driving, the motorization mechanism may operate in reverse to harvest power. The mobility aid device may include other energy harvesting devices. For example, a non-rollable mobility aid device may include a shock harvester or a swing harvester, which convert the kinetic energy of the various motions experienced by the mobility aid device into electrical energy, which is in turn used to recharge the battery of the mobility aid device  100 . 
       FIG. 13  shows a mobility aid device in accordance with further embodiments of the present disclosure. The mobility aid device  700  (or simply smart mobility device), shown in this example as a crutch  701 , has a single leg provided by an elongate body  710 . The body  710  can be implemented using one or more elongate tubular members. The body  710  has a first end and  712  a second end  714  that define a length therebetween. The length may be adjustable at one or a plurality of distinct locations on the body  710  (e.g., first adjustment location  703 - 1  below the handle  800  and second adjustment location  703 - 2  above the handle  800 ). For example, the length of the body may be adjustable, and the device includes a first adjustment portion of the body above the handle and a second adjustment portion of the body below the handle. A base  720 , shown here as a single-foot tip, may be coupled to one end of the body. The base  720  may be of a different configuration in other embodiments, such as in the form of a multi-foot tip (e.g., a tripod tip). In some embodiments, the base  720  may be removably coupled and/or interchangeable with bases of different configurations, such as with a multi-foot tip. The mobility aid device may, in some cases, be provided to the user as a kit including a plurality of different bases for each leg, which in the case of crutches may be typically provided as a set of left and right crutches. In one example, the smart mobility device  700  includes a handle configured to be gripped by a hand of a user; a body having a first end, a second end, and a length defined between the first end and the second end; a base coupled to the first end; a body portion support coupled to the second end. The handle is coupled to the body at a location between the base and the body portion support; and a plurality of electronic components integrated into the smart mobility device including: a display built into the handle such that the display is visible to the user while the user is gripping the handle, a sensor configured to detect a grip of the hand by the user, and a processor in communication with the display. The processor automatically powers up the display, if unpowered, responsive to sensor data indicating that the handle is being gripped. 
     A mobility assistance kit may be implemented including a smart mobility device  700  as described above, and a second crutch with only some or none of the electronic components of the smart mobility device  700 . In some examples, one of the crutches may include a sensor and an electronic communication component (such as Bluetooth, ZigBee, WiFi, or a cellular (e.g., 4G, 5G, LTE) or the like) communicatively coupling the sensor to the processor of the first crutch or to a memory device separate from the mobility assistance kit. In some examples, one of the first and second crutches includes an electronic communication component of a first type and the other one of the first and second crutches includes an electronic communication component of a second type different from the first type. For example, one crutch may include a WiFi electronic communication component and the other crutch may include a Bluetooth electronic communication component. In some examples, the display of the first crutch is configured to display other sensor data acquired by sensors on either the first or the second crutch, and wherein the display is configured to indicate with which crutch the other sensor data is associated. In some examples, at least one of the first and second crutches in a mobility assistance kit includes a power management circuit configured to cause electrical power to be transmitted from one of the first and second crutches to the other one of the first and second crutches. 
     Similar to mobility aid device  100 , a handle  800 , which may provide at least some of the intelligence or enhanced functionality of the mobility aid device  700  (e.g., for safety, connectivity, and or user/activity tracking) may be coupled to the body  710  at a location spaced apart from the base  720 . In some examples, such as in the case of a cane, the handle may be coupled to the upper and of the body. In other examples, the handle  800  may be coupled to a location between the two ends  712  and  714  of the body  710 . The second or upper end  714  of the body  710  may be equipped with a body portion support  730 , with the handle being spaced apart (in opposite directions) from the base  720  and the body portion support  730 . The body portion support  730  may be implemented as an axilla support configured to contact the user&#39;s armpit or axilla during use as shown in  FIGS. 13 and 14 . In some such examples, the body portion support  730  may include a support member  732 , which extends substantially perpendicular to the body  710  and/or parallel to the handle  800 . The body portion support  730  may be implemented as an arm support, e.g., as in the example shown in  FIGS. 18 and 19 . In some such examples, the body portion  730 ′ may be configured to at least partially encircle the user&#39;s arm, such as the user&#39;s forearm. 
     Referring now also to  FIGS. 16 and 17 , the body portion support  730  may be removably coupled to the body  710  in some examples, such as to allow the user to interchange the body portion support  730 . For example, a crutch kit may include one or a pair of crutches, each of which may be provided with two sets of body portion supports  730  of different configuration (e.g., an axilla support  730 -A and a forearm support  730 -F, each of which may be connected to a coupling structure having the same configuration for interchangeably coupling either of the supports  730  to the body  710 . As shown in blocks  1610 - 1640 , the axilla support  730 -A and the forearm support  730 -F may include a coupling structure, in this case a post  733  of substantially the same diameter to allow of insertion of the post  733  of either of the axilla support  730 -A and the forearm support  730 -F into an aperture  738  in the body  710 . The mobility aid device  700  may include a base  720  coupled to the bottom end (e.g., end  712 ) of the body  710  with the handle being spaced apart from the base. The base  720 , shown in this example as a single-foot tip, may be removably and in some cases interchangeably coupled to the body  710  to allow the user to reconfigure the mobility aid device for a different use case by attaching a different type of base. 
     Similar to mobility aid device  100 , the mobility aid device  700  may include electronic components embedded within the mobility aid device  100 , e.g., within the body and/or handle  200 , to provide a variety of functions such as those described above with respect to the mobility aid device  100  and intelligence system  500 . For example, the mobility aid device  700  may include any suitable combination of sensors, such as a proximity sensor, a touch sensor, a grip sensor, a motion and/or force sensors (e.g., load cells, pressure sensors, accelerometers, and/or IMUs). The handle  800  may include one or more buttons  810 ,  820 , a display  830 , and at least one contact sensor  840  (e.g., a biometric sensor such as a heart rate sensor). In some examples, a biometric sensor is located on the side of the handle opposite the display. The buttons may include at least one emergency button (e.g., button  810 ) and/or at least one functional control button  820  (e.g., to control volume, lighting, to scroll through display features, etc). In some embodiments, the functionality of any of the buttons  810 ,  820  may be reconfigurable by the user, or automatically and intelligently by the smart mobility aid device. For example, the functional control button  820  may be configured to control volume when the smart mobility aid device is providing an audio service or function (e.g., during a voice call, or audio streaming). The processor of the smart mobility aid device may automatically assign the functional control  820  to a different function, such as to control lighting level upon the initial activation of the lighting system of the smart mobility aid device. 
     The functional control button  820  may be configured to control the function of scrolling through options, items in a user&#39;s electronic shopping cart, a playlist or other selectable items (e.g., contact), when the smart mobility device is performing a function associated with a respective service, e.g., setting up settings of the mobility aid device, communicating with the user&#39;s shopping cart, digital play list, or phone book. In some embodiments, an On/Off button, such as the button  810  may at some times, such as upon detection of an emergency or near-emergency condition, perform emergency functions, while at other time, such as during non-emergency conditions, perform a “select,” “accept,” or “confirm” function. For example, the button  810  may perform the click of a “one-click” shopping function. The “select,” “accept,” or one click function assigned to button  810  may automatically be assigned by the system (e.g., intelligence system  500  of the smart mobility device) based on the time of day, the location, sensor data, mode of operation, or other inputs. For example, the one-click function of button  810  may be automatically assigned to perform a specific function, e.g., call a taxi, upon detection of the mobility aid device outside of the user&#39;s home or at some other specified location. The one-click function may be automatically assigned to checkout function (e.g., with saved payment method of the user) upon detection of the user in the grocery store, etc. In some cases, the one-click function may operate in conjunctions with an automatically re-configurable display, which automatically displays an icon indicative of the one-click function assigned to button  810 . For example, when the one-click function is a transportation function (e.g., calling a taxi or Uber), the icon displayed on the display  830  may show a transportation icon such as a car or taxi. 
     Other examples of re-configurable functions may include an emergency function (e.g., emergency text or call) upon detection of an emergency condition such as a fall, a reminder function (e.g., a reminder that the user has a doctor&#39;s or other appointment, or a medication reminder) upon detection of an appointment in the user&#39;s calendar, a checkout or other payment function (e.g., upon detection of the user in a store, or when the mobility aid device is electronically connected to a shopping site), an automatic re-order function (e.g., for groceries, food delivery, or some other service), a periodic check in function with a caregiver, e.g., to confirm that the user is in a non-emergency status, and many others. In some cases, the icon indicating the function may be displayed on the side of the handle, near the button whose functionality has been re-assigned based upon a detected condition or environment, as shown in  FIG. 15A , or on a surface of the button itself, as shown in  FIG. 15B . In some examples, one or more of the controls, such as the functional control  820 , which may include a switch (physical or soft control) with a plurality of different selectable states, may have fixed functions, e.g., an emergency function and a setting control function, while another control of the user interface (e.g., button  810 ) may be reconfigurable (e.g., by the user or automatically by the system) as described herein. In yet further embodiments, the functionality of physical buttons may be set, while re-configurable functionality may be provided with one or more touch-sensitive surfaces on the mobility aid device  700 , such as via a touch-sensitive display for the display  830 . The handle  800  may also include additional components associated with smart mobility aid device intelligence system, for example one or more intelligently activated lights  804 , speakers (not shown), and touch sensor areas. 
     As with other examples of a smart mobility aid device, the mobility aid device  700  may include at least one light  804 . At least one of the lights may be operatively positioned on the body  710  (e.g., directed in combination of forward and downward direction) to illuminate the user&#39;s path) or may be otherwise position to serve as a flash light, such as being directed straight ahead. The mobility aid device  700  may include at least one a microphone, a speaker, and other electronic components (e.g., external communication components) for providing one or more of the functions of a smart mobility aid device described herein. 
     A smart mobility device (e.g., the rollator  101 , the mobility aid device  700 ) may include one or more activity tracking components carried by the smart mobility device for collecting information about a daily activity of the user, and an electronic memory for storing the collected information about the daily activity. A smart mobility device may include an electronic communication component for communicatively coupling the smart mobility device to an external computing device. The processor may be configured to automatically and periodically transmit, via the electronic communication component, the collected information to an electronic memory external to the smart mobility device. As previously described, the mobility aid device (e.g., the smart mobility device  700  shown as crutch in  FIGS. 13-20 ) may be configured to record and track user activity, such as via the use of one or more sensors, at least some of which may be located in the handle  800 . The handle  800  may include one or more of the features and/or functions of the handle of the mobility aid device  100 , such as grip detection for automatic activation of components, user authentication, biometric measurements, etc. 
     As with handle  200 , the handle  800  may be configured to be gripped by the hand of a user. To that end, the handle  800  may be shaped for an ergonomic fit with a person&#39;s hand. As shown in  FIG. 14  for example, the handle  800  may include a display  830  configured to be visible to the user when the user&#39;s hand is gripping the handle. One or more electronic components associated with an intelligence system of the smart mobility device (e.g., system  500 ) may be housed within the handle  800  or body  710 . For example, the handle  800  may include components of a user interface similar to the user interface  300 , including at least one display and at least one user control (e.g., buttons  810 ,  820 ). While the components  810  and  820  are referred to herein as buttons, the term button will be understood to include any form of a user control (e.g., a physical or mechanical button or software based control) that allows the user to invoke, activate, or deactivate a function of the smart mobility aid device. 
     In the example of a crutch, yet additional functionality, e.g., related biometric measurement or tracking of user health information or trends, may be embedded in the smart mobility device. As described, the mobility aid device  700  may be configurable as a crutch with an arm support  730 -F which includes a cuff  732  configured to at least partially encircle the user&#39;s arm (e.g., the user&#39;s forearm). A cuff-type blood pressure sensor assembly may be embedded in the arm support  730 -F, e.g., as shown in  FIG. 19 . The cuff  732  may include an inflatable portion  734  configured to inflate and deflate responsive to a controller circuit  736  (e.g., embodied in an ASIC or PCB). The controller circuit  736  may control the operation of a motor  737  (e.g., an electric motor), which drives a pump  739  (e.g., a pneumatic pump) to inflate the inflatable member  734  in the cuff  732 . In some examples, the arm support includes the pump which is operatively coupled to the inflatable member to inflate the inflatable member. In some examples, the mobility aid device  700  includes a blood pressure sensor operatively associated with the inflatable member, a controller in communication with the blood pressure sensor and the pump, to cause the pump to inflate the cuff and the blood pressure sensor to automatically acquire a blood pressure measurement responsive to inflation of the cuff. For example, the processor of the intelligence system of the smart mobility device  700  may cause the controller circuit  736  to periodically (e.g., one per hour, every two or more hours, once per use session, etc.) inflate the inflatable member  734  for automatic period blood pressure measurements of the user by the smart mobility device. In some cases, a push of a button or a squeeze on the handle (e.g., detected by a grip sensor) may cause the automatic taking of a measurement such as a blood pressure measurement, and thus may initiate the sequence of inflating and operatively deflating the cuff to take the blood pressure measurement. 
     As also described, a smart mobility device (e.g., mobility aid device  700 ) may be re-chargeable by placing the mobility aid device  700  in or on a charger  850 , which in the example in  FIG. 20  is also configured as a holder for conveniently and neatly storing the mobility aid device  700  while not in use. The charger  850  may thus include a charging circuitry integrated therein. The mobility aid device  700  may be recharged wirelessly such as via a coil in the charger  850  operatively positioned to couple (e.g., inductively, resonantly) to a coil in the body  710  of the mobility aid device  700  near the handle  800 . In other examples, the charging may be via a wired connection and the mobility aid device  700  and charger  850  may include cooperating male and female connectors to establish a wired connection. In some examples, the wired charging may be through electrical contact of conductive surfaces, without necessarily plugging male and female connectors together. The charger  850  may include a holding cavity, which may be provided with one or more magnetic couplings for magnetically aligning and/or retaining the mobility aid device  700  to the charger  850 . In some examples, the holding of the mobility aid device may alternatively or additionally be mechanical means (e.g., a hook, clamp, interlocking surfaces, a ledge, or other suitable structure(s)). While the charger  850  is shown to interface with the mobility aid device  700  at a location near the handle, in other examples, the charging components (e.g., coil or plug for wired charging) may be located elsewhere on the body  710  such as closer to the tip. In some such cases, the mobility aid device may be suspended or held upside down in the charger  850 . 
     To preserve the small form factor of the mobility aid device and still enable communication via a plurality of different methods (e.g., Bluetooth, ZigBee, WiFi and/or cellular), one of the handles may include an electronic communication component of a first type (e.g., a Bluetooth or a WiFi communication component), while the other handle may include an electronic communication component of a second different type (e.g., a WiFi or a cellular communication component). 
       FIGS. 21-23 and 25A-26C  illustrate examples of a sensor assembly that may be located in the base (e.g., tip  720 ) of a smart mobility aid device, such as a smart cane, a smart crutch, or a rollable device.  FIG. 21  shows an exploded view of a smart tip  900  and  FIGS. 22 and 23  show two orthogonal section views of the smart tip  900 .  FIG. 25A  shows an elevation view of a smart tip  2500  in a first configuration.  FIG. 25B  shows the smart tip  2500  in a second configuration, where a flexible coupling enables feet of the smart tip to tilt relative to a portion of a mobility aid device. In some embodiments, the smart tip  900  includes a flexible coupling as described with respect to the smart tip  2500 . The smart tip  900  and/or the smart tip  2500  may be used to implement the base  720  of the crutch  701  described with reference to  FIGS. 13-18  or the base of another smart mobility aid device of the present disclosure. 
     The smart tip  900  and/or the smart tip  2500  includes a sensor assembly that may be used to obtain various sensor data, such as strain data, motion data, or other, such that any suitable combination of the sensor data may be used to derive additional information about the use of the smart mobility aid device (e.g., trends in load applied by the user). In sonic embodiments, a smart tip (e.g., smart tip  900  as shown in  FIGS. 21-23  and/or the smart tip  2500  shown in  FIGS. 25A-26C ) may be used to retrofit a conventional (or dumb) mobility aid apparatus, as the smart tip may include the electronics necessary to track and record data representative of the use of the device, which data may then be transmitted (e.g., via a communication component in the smart tip) to another computing device for further analysis. In some such examples, a smart tip may include a power source, which may be rechargeable, for powering the electronic components. In some examples, the electronics suite (e.g., the sensor assembly) in the smart tip  900  and/or  2500  may communicate the recorded data to a processor onboard the smart mobility device, such as a central processor (e.g., processor  530 ) located elsewhere in the body (e.g., in the handle or elsewhere proximate to a display) of the smart mobility aid device. In some such examples, the power source for the electronics in the tip may reside in the tip or it may be transmitted to the tip, e.g., via a wire harness connecting the smart tip to the main electronics assembly (e.g., in the handle). 
     Referring now to  FIGS. 21-23 , a smart tip  900  may include an inner body  912 , which supports the electronics of the smart tip  900  including the one or more sensors (e.g., load cell  920 ). In the illustrated example, the inner body  912  is enclosed within an outer housing  910 , which may be made of any suitable rigid material, such as metal, rigid plastic or a composite material, and which serves to enclose and protect the internal electronics of the smart tip. While shown as separate components(e.g., for ease of manufacture), the inner body  912  and the outer housing  910  may, in some examples, be integrally formed, such as through a suitable casting and/or machining process(es). In some examples where two separate components are used to provide the inner body and outer housing combination, the two may be coupled using any suitable coupling means, such as fusing, welding, bonding, fastening, and/or otherwise mechanically attaching the two components, such as via a male-female snap connector  905 . 
     Coupled to the body  912  and housing  910  are a load cell  920 , which in the illustrated example is fastened to the body  912  via fasteners  928 , and a circuit board  914 , which is in electronic communication with the load cell  920 . The load cell  920  may be configured to track user activity or derive information pertaining to the user&#39;s health, as previously described. For example, the load cell  920  may generate gait or stride measurements, and may measure a load imparted to a smart mobility device by a user. The load cell  920  may enable a processing element to develop trends in load imparted to the smart mobility device to correlate to the user&#39;s health. For example, if a user applies less load to the smart mobility device over time, that trend may be indicative of an improvement in the user&#39;s ability to walk with less reliance on a smart mobility device. Likewise, a trend of increasing load may indicate the user is more reliant on the smart mobility device and be indicative of a decline in health. In the present example, the body  912  defines a cavity configured to accommodate circuitry of the smart tip (e.g., provided on a circuit board  914 ). The circuit board  914  may be substantially rigid and is arranged substantially vertically within a cavity of the inner body  912 . However, in other examples, the electronic circuits associated with the sensor suite in the tip may be provided on one or more flexible circuit boards, which may be differently arranged in the body of the smart tip  900 . 
     In this embodiment, the smart tip includes a load cell  920 , such as a strain gauge load cell. The load cell  920  may be a full Wheatstone bridge strain gauge. However, in some examples a half (i.e. two strain gauges) or a quarter bridge (i.e. single strain gauge) may be used. The load cell  920  may provide an output strain signal, typically an analog signal, which may be coupled to an amplifier circuit that resides, for example, on the circuit board  914 . The measured strain signal may be applied to improve the resolution of the signal as the amplitude of the measured strain signal may be too low (e.g., on the order of millivolts) to effectively analyze the signal. In some examples, the amplified signal may be further coupled to a filter for reducing the noise component of the signal and/or to an analog-to digital converter (ADC) which converts the analog strain measurement signal to a digital strain measurement signal. The digitized signal may then be coupled to a processor circuit for determining the load applied to the smart tip based on the strain measured by the load cell  920 . The processor circuit, which may be located in the tip  900  or be part of the main or central processor (e.g., in the handle) may perform this determination using calibration data that maps applied load to resulting strain signal output, and which may be stored onboard the smart mobility device. 
     On the opposite side of the load cell  920  is a presser plate  916 , which is operatively associated with the load cell  920  (e.g., via a pin  917 ) to transfer the load applied by the user to the load cell  920  for sensing. The outer housing  910  defines an opening to the cavity  911 , e.g., to enable installation of the internal electronics, and the opening to the cavity  911  may be capped by a tip end body  919 , which effectively seals the electronics within the interior cavity  911  of the tip  900 . In some embodiments, to better seal the cavity  911  from water, dust, or other debris, one or more sealing components may be used. For example, a sealing element  918  (e.g., o-ring) may be provided circumferentially on the presser plate  916  to prevent the passage of water and debris into the portion of the cavity  911  containing the electronics. The tip end body  919  may be formed of a resilient material, such as rubber (natural or synthetic) or other non-resilient material that provides a sufficient amount of traction with the ground. The tip end body  919  may be rigidly attached (e.g., by fastener  925 ) to the presser plate  916 , such that displacement of the tip end body  919  is transferred to the presser plate  916 , which transmits, via the interaction between the pin  917  and the pin seat in presser plate  916 , a corresponding displacement to the load cell  920 . The load cell  920  and presser plate  916  are aligned to the inner body  912  and movably coupled thereto via shoulder screws  915 . The shoulder screws not only allow relative movement of the load cell  920  and presser plate  916  relative to the inner body  912  and housing  910  but may also act as an alternate load path to prevent excessive load from being applied to the load cell. For example, the load applied to the load cell may be limited to below the ultimate tensile strength or below the yield strength of the strain gauge(s) (e.g., up to about 300 lbs). 
     In some embodiments, the smart tip  900  may include one or more additional sensors, such as an integrated position and orientation sensor (e.g., IMU), a motion sensor, accelerometer, or others, which may be provided on the circuit board  914 . The measurements from the additional sensors may be used independently from the strain data to obtain other information about the use of the mobility aid device, such as distance travelled and/or to detect a fall. In some cases, the measurements from the additional sensors may be used in conjunction with the load data for deriving further information (e.g., trends) relating to the loading of the device. 
     The smart tip  2500  may include components and functionality also included in the smart tip  900 , as previously described. For example, in some embodiments, the outer housing  910 , sealing element  918 , load cell  920 , the presser plate  916 , the circuit board  914 , and screws  915  of the smart tip may be similar to, or the same as, elements described with respect to the smart tip  900 . The smart tip  2500  and/or the smart tip  900  may be adapted to be associated with (e.g., attached to or formed with) a portion, such as an elongate element  710 , of a mobility aid device. The elongate element  710  may have a longitudinal axis  2536  that runs along its long dimension, and may have a transverse axis  2538  running substantially perpendicular to the longitudinal axis  2536 . 
     As shown for example in  FIGS. 25A-26C , the smart tip  2500  may have one or more feet  2524 . The foot  2524  may be spaced apart from a longitudinal or central axis of an elongate member  710  or a body of a mobility aid device. The foot  2524  may increase the stability of a mobility aid device. For example, the foot  2524  may increase the stability of the mobility aid device when used by a user to ambulate by giving the user more points of contact, a broader base of contact, or by adapting to uneven or rough surfaces. Additionally, the foot  2524  may allow a mobility aid device such as a cane or crutch that would normally not be free-standing to stand on its own (e.g., as shown in  FIG. 25A ), thereby positioning the mobility aid device for easy retrieval by the user. In various examples, the smart tip  2500  may include two, three, four, five, or more feet. 
       FIGS. 25B and 26A  show a cross section of an embodiment of the smart tip  2500 . Each of the one or more feet  2524  of the smart tip  2500  has a respective tip end portion  2508  adapted for contact with a support surface  2501  such as the ground or a floor. The tip end portions  2508  may include anti-slip, anti-skid, or friction enhancing features, coatings, or elements to reduce slippage of the end portions relative to the support surface. When more than one foot is used, the feet  2524  may be separate components, or may, as shown in  FIG. 26A , be elements of a unitary piece. The foot  2524  may be operatively coupled to a flexible coupling  2504 . 
     The one or more feet  2524  are adapted to contact a support surface  2501 . The one or more feet  2524  are operatively coupled to the smart tip  2500  by a flexible coupling  2504  such that the one or more feet  2524  can tilt with respect to the body of the smart mobility device. The flexible coupling  2504  may be coupled to the foot  2524  by a fastener  2506 . The fastener  2506  may pass through an aperture in the flexible coupling and engage with a presser plate  916  disposed at an opposite side of the flexible coupling  2504  from the head of the fastener,. In some embodiments, the flexible coupling  2504  may be attached or affixed to the foot  2524  by other suitable structures, with adhesives, or may be molded, cast or unitarily formed with the foot  2524 . The flexible coupling  2504  may be fastened to an outer housing  910  with one or more fasteners  915 . A portion of the flexible coupling  2504  may be received in a portion of the outer housing  910 . For example, the outer housing  910  of the smart tip  2500  may form a cavity  911  that receives a portion of the flexible coupling  2504 . The outer housing  910  may have an interior wall  913  adapted to cooperate with an outer wall  2515  of the flexible coupling  2504 . For example, the interior wall  913  may have an arcuate shape within which the outer wall  2515  of the flexible coupling  2504 , which may have a corresponding arcuate shape, may pivot or flex to further help simulate the natural motion of a user&#39;s foot and/or ankle. The fasteners  915  may pass through apertures in the flexible coupling, apertures in the presser plate, apertures in a load cell  920 , and/or engage with apertures in the outer housing  910 . The fasteners  2506  and/or  915  may be screws, bolts, rivets, or other suitable fasteners. The fasteners  915  may act as guides and/or may transmit force through the smart tip  2500 . The outer housing  910  may be adapted to be coupled with a portion of a mobility aid device, for example with a tube, shell, or other structure such as an elongate element  710 . For example, the outer housing  910  may include a collar adapted to be received within an inner portion of the elongate element  710 , as shown in  FIG. 26A . In some embodiments, the outer housing  910  may be adapted to receive an outer portion of the elongate element  710 . For example, the outer housing  910  may include an aperture adapted to receive the elongate element  710 . The outer housing  910  may be secured to the elongate element  710  by a fastener  2522 , such as a shear fastener, pin, screw, rivet, bolt, or the like. 
       FIG. 25B  shows an example of a flexible coupling enabling relative tilt between the foot  2524  and an elongate element  710  of a mobility aid device, as indicated for example by the arrow  2533  and/or the tilt angle θ 1 . Relative tilting of the foot  2524  and the body of a mobility aid device may help simulate the natural motion of a foot and ankle and may aid a user while walking with a mobility aid device including the smart tip  2500 . As shown in  FIG. 25A , the tip end portions may be at rest against a support surface, and the elongate element  710  (e.g., a shaft of a cane or crutch) may be substantially normal to the support surface. In this configuration, the longitudinal axis  2536  of the elongate element  710  and a longitudinal axis  2540  of the smart tip  2500  may be substantially aligned, as shown in  FIG. 25A . In  FIG. 25B , the smart tip  2500  is shown disposed with a foot  2524  in contact with the support surface  2501  and another foot  2524  above the support surface  2501 , such that the longitudinal axis of the foot  2524  forms an angle θ 2  with respect to an axis normal to the support surface  2501 . Such a disposition may occur as a user walks with a mobility aid device including a smart tip  2500  and the foot  2524  tilts with respect to the elongate body  710  simulating natural ankle and foot movement, The angle θ 2  may be exaggerated as shown in  FIG. 25B  and may be more or less than as shown, Such a disposition may induce a force or moment between the foot  2524  and the elongate member  710  such that the flexible coupling  2504  enables the foot  2524  and the elongate member  710  to tilt a tilt angle θ 1  relative to one another. For example, as shown in  FIG. 25B , the longitudinal axis  2536  of the elongate element  710  is flexed at a tilt angle θ 1  with respect to the longitudinal axis  2540  of the foot  2524 . A tilt angle θ 1  may also be induced between the foot  2524  and the elongate element  710  when the foot  2524  of the smart tip  2500  is in the configuration shown in  FIG. 25A  with the feet in in contact with the support surface  2501 , as indicated by the arrow  2533 . Such a configuration may occur when a user uses the mobility assistance device to transition from standing and seated positions, and flexes the elongate body  710  relative to the foot  2524 , while the foot is in contact with the support surface  2501 . 
     The flexible coupling  2504  may be implemented as a rocker or damper that enables tilting movement of the smart tip  2500  relative to a portion of a mobility aid device such as an elongate element  700 . The flexible coupling  2504  may be made from a deformable material such as a material that can be deformed elastically under typical forces imparted to the coupling while in use by a user using a smart tip  2500  with a mobility aid device. The flexible coupling may allow the foot  2524  to tilt in any radial direction (e.g., along any transverse axis to the longitudinal axis  2536  of the elongate element  710 , 360° around the elongate element  710 ). Further, the flexible coupling  2504  may allow the radial direction of the tilt angle θ 1  to roll or point to other radial directions while tilted. In some embodiments, the material of the flexible coupling  2504  may be an elastomer for example natural or synthetic rubber, EPDM, neoprene, polyurethane, silicone, nitrile, or the like. The flexible coupling  2504  may deform or flex under load, but return to substantially its original shape and/or size when unloaded. Elastic tilting of the foot  2524  relative to the elongate element  710  may simulate a natural movement of a user&#39;s ankle, and this assist the user to walk. The flexible coupling  2504  may impart a restoring force to either or both the foot  2524  and the elongate member  710  that tends to restore the alignment of the foot  2524  and the elongate member  710 . The more the flexible coupling is flexed (i.e., the larger the tilt angle θ 1 ), the larger the restoring force may be. 
     The tilt angle θ 1  or movement of the smart tip  2500  relative to a portion of the mobility aid device (e.g., the elongate element  710  or body) may be limited by a tilt limiter. For example, as the flexible coupling  2504  deforms, allowing relative tilt between the outer housing  910  and the foot  2524 , and an increasing angle θ 1 , an upper tilt limiter  2528  positioned for example at a lower end of the outer housing  910  may come into contact with a lower tilt limiter  2530  positioned on a portion of the smart tip, such as the foot  2524 . Contact of the upper and lower tilt limiters may prevent tilt of the foot  2524  to a tilt angle θ 1  greater than desired. For example, tilt limiters  2528 ,  2530  may limit the tilt angle θ 1  to less than about 5°, 10°, 15°, 20′, or even less than 45°. Other suitable structures for limiting the tilt angle θ 1  may be used. 
     The flexible coupling  2504  may include a non-rotatable coupling  2526  that prevents or limits relative rotation of the foot  2524  and a portion of a mobility aid device (e.g., the elongate element  710 ). For example, the non-rotatable coupling  2523  may limit rotation or spinning of the foot  2524  about the longitudinal axis  2540  of the smart tip  2500  and/or a portion of a mobility aid device, such as the elongate element  700 .  FIG. 26B  shows an isometric view of an embodiment of a flexible coupling  2504  including a protruding portion  2502  of the non-rotatable coupling  2526 .  FIG. 26C  shows an embodiment of a receptacle  2520  adapted to receive the protruding portion  2502  and together form a non-rotatable coupling  2526 . The protruding portion  2502  shown for example in  FIG. 26B  is implemented as a spline with a plurality of teeth separated from one another by a tooth space. The receptacle  2520  likewise includes a plurality of teeth separated from one another by a tooth space. The teeth of the protruding portion  2502  are adapted to be received in the tooth spaces of the receptacle  2520 , and the teeth of the receptacle  2520  are adapted to be received in the tooth spaces of the protruding portion  2502 . Thereby, the protruding portion  2502  and the receptacle  2520  can engage to form the non-rotatable coupling  2526 . The teeth and the tooth spaces of the protruding portion  2502  and the receptacle  2520  may be of any suitable shape or profile, (e.g., involute, parallel key, crowned spline, serrations, helical spline, or the like). Either of the protruding portion  2502  or the receptacle  2520  may be associated with either of the flexible coupling  2504  or the foot  2524 . Other suitable non-rotatable couplings may be used, including for example gears; keyed connections; integral forming of the flexible coupling  2504  with the foot  2524  (e.g., molding, overmolding, or the like); an adhesive; or unitary forming of the flexible coupling  2504  and the foot  2524 . 
     The non-rotatable coupling  2526  may allow limited twisting of the foot  2524  relative to a portion of the mobility aid device. For example, the flexible coupling  2504  may provide a limited amount of elastic torsional strain such that the foot  2524  may flex or twist relative to the longitudinal axis  2536  a limited amount relative to an elongate element  710  of a mobility aid device while still preventing spinning of the foot  2524 . Thus, the non-rotatable coupling  2504  may increase the stability and adaptability of a mobility aid device. 
     As described with respect to the smart tip  900 , the smart tip  2500  may include a sensor assembly and electronics suite that may be used to obtain sensor data, such as strain data, motion data, tilt data, flex data, or other data related to the use of the smart tip  2500  of a smart mobility device. A circuit board  914  may be included in the smart tip  2500 . The circuit board  914  may include an IMU, such as a gyroscope, accelerometer, or other suitable position and orientation sensor. 
     The smart tip  2500  may include a load cell  920  similar to the load cell in the smart tip  900 . The load cell  920  may be positioned between the presser plate  916  and a bulkhead or wall  2534  of the outer housing  910 . For example, the load cell  920  may include a deflection member  2510  that bends elastically under an applied load. The load cell  920  may include a load contact  2512  disposed on, or formed with, the deflection member  2510  and in contact with the bulkhead  2534 . A strain sensor  2532  such as a strain gauge may be associated with the deflection member  2510  and configured to detect a strain or deflection of the deflection member  2510 , as previously described with respect to the smart tip  900 . The strain gauge may be adhered, attached, or formed with the deflection member. A strain of the deflection member  2510  may be correlated to an applied force on the smart tip  2500 . The load contact  2512  may be movable about the surface of the bulkhead  2534  with which the load contact  2512  is in contact. Relative motion of the load contact  2512  about a face of the bulkhead  2534  may reduce or eliminate biasing of readings of the load cell caused by lateral forces imparted on the smart tip  2500 , such as when the smart tip is flexed at a tilt angle θ 1  relative to the mobility aid device. For example, the load contact  2512  may be in the shape of a hemisphere or other suitable shape that allows the load contact  2512  to slide laterally (e.g., side to side, front to back, or a combination thereof) across the bulkhead  2534  when a tilting load is applied to the smart tip  2500 , thus reducing bias or measurement errors of the load cell  920 . The load contact  2512  may transmit force (e.g., a weight or force imparted by a user using a mobility aid device including a smart tip  2500  for example along a longitudinal axis of a mobility aid device) from the bulkhead  2534  to the load cell  920 . The load cell  920  may be positioned in a position other than as shown in  FIG. 26A . For example, the load cell  920  could be inverted from the position shown, such that the load contact  2512  is in contact with the presser plate  916  and a base of the load cell  920  is in contact with the bulkhead  2534 . The bulkhead  2534 , the presser plate  916 , and the load cell  920  may be made of any suitable material, such as steel or other metals, plastic, fiber reinforced composites, or the like. Other suitable arrangements of load cells may be used. 
     The strain sensor  2532  and/or the IMU  2514  may be in electrical communication with a processing element  2516  and/or a power source of the circuit board  914 . The processing element  2516  may receive signals from, and/or provide power to, the IMU  2514  and/or the strain sensor  2532 , or another circuit in the load cell  920 . These data may be used as described with respect to other smart mobility devices of the present disclosure (e.g., detecting gait, stride, falls, use strength, and the like). Additionally or alternately, data from the IMU  2514  may be used with data of the load cell  920  to correct load cell  920  data for bias caused by lateral loading. 
     In other examples, load sensing may be achieved differently. For example, one or more strain gauges may be placed at various locations on the body of the smart mobility aid device (e.g., a rollator  101 , a mobility aid device  700 , a wheelchair, or the like), such as on a load-bearing component e.g., the structural core, also referred to as spine, of a handle, as shown in  FIGS. 24A and 24B , of a cane a crutch or other mobility aid device.  FIGS. 24A and 24B  show an example of a spine  2410  suitable for use in a handle of a cane or crutch, for example, a handle  800  of a the mobility aid device  700 . Other, similar structures could be used in an body portion support  730  of the mobility aid device  700 , or a handle  210  of the rollator  101 . The spine  2410 , which may be the main load-bearing element of the handle that is responsible for supporting the load and offloading substantially all or much of the stress from the plastic and electronic components in the cane, may be manufactured from any suitable material for load bearing, such as metal (aluminum, steel, titanium, etc.), composite, or other. As such, the spine  2410  provides a support structure for coupling other components thereto including electronic components and/or the outer shroud of the handle, and all of the load applied to the handle by a user may be transmitted to the spine  2410 , which transmits the load to the ground. Certain areas of the spine may experience higher stress, for example at the bend  2419  (see  FIG. 24B ) between the handle end and the vertical portion of the stem, and may thus provide suitable locations for load sensing. One or more strain gauges  2412 , for example a strain gauge using a Wheatstone bridge (e.g., a full, half or quarter bridge) circuit, which may be provided on a circuit board  2416 , may be operatively coupled to the structure (e.g., to the spine  2410 ) to sense deflection and thus strain experienced by structure. The strain gauge may be oriented in any suitable orientation, for example such that it is vertical as shown in  FIG. 24A  when the mobility aid device is in use, or such that it is at an angle to the vertical as shown in  FIG. 24B  when the mobility aid device is in use. While the examples in  FIGS. 24A and 24B , as well as the discussion of the load sensor at the tip of the device illustrate two examples of locations where load sensing can be performed, load applied to the smart mobility device can be measured at virtually any other location along the load path of the device (e.g., the path along which the load travels from where it is applied by the user to where it is reacted by the ground). 
     As will be appreciated, enhanced functionality mobility aid devices may be provided in accordance with the examples of the present disclosure, which mobility aid devices provide one or more features to improve the safety, connectivity, and/or activity tracking of the user. 
     When a feature or element is herein referred to as being “on” another feature or element, it can be directly on the other feature or element or intervening features and/or elements may also be present. In contrast, when a feature or element is referred to as being “directly on” another feature or element, there are no intervening features or elements present. It will also be understood that, when a feature or element is referred to as being “connected”, “attached” or “coupled” to another feature or element, it can be directly connected, attached or coupled to the other feature or element or intervening features or elements may be present. In contrast, when a feature or element is referred to as being “directly connected”, “directly attached” or “directly coupled” to another feature or element, there are no intervening features or elements present. Although described or shown with respect to one embodiment, the features and elements so described or shown can apply to other embodiments. It will also be appreciated by those of skill in the art that references to a structure or feature that is disposed “adjacent” another feature may have portions that overlap or underlie the adjacent feature. 
     Terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. For example, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items and may be abbreviated as “/”. 
     Spatially relative terms, such as “under”, “below”, “lower”, “over”, “upper” and the like, may be used herein for ease of description to describe one element or feature&#39;s relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as “under” or “beneath” other elements or features would then be oriented “over” the other elements or features, Thus, the exemplary term “under” can encompass both an orientation of over and under. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Similarly, the terms “upwardly”, “downwardly”, “vertical”, “horizontal” and the like are used herein for the purpose of explanation only unless specifically indicated otherwise. 
     Although the terms “first” and “second” may be used herein to describe various features/elements, these features/elements should not be limited by these terms, unless the context indicates otherwise. These terms may be used to distinguish one feature/element from another feature/element. Thus, a first feature/element discussed below could be termed a second feature/element, and similarly, a second feature/element discussed below could be termed a first feature/element without departing from the teachings of the present invention. 
     As used herein in the specification and claims, including as used in the examples and unless otherwise expressly specified, all numbers may be read as if prefaced by the word “about” or “approximately,” even if the term does not expressly appear. The phrase “about” or “approximately” may be used when describing magnitude and/or position to indicate that the value and/or position described is within a reasonable expected range of values and/or positions. 
     For example, a numeric value may have a value that is +/−0.1% of the stated value (or range of values), +/−1% of the stated value (or range of values), +/−2% of the stated value (or range of values), +/−5% of the stated value (or range of values), +/−10% of the stated value (or range of values), etc. Any numerical range recited herein is intended to include all sub-ranges subsumed therein. 
     Although various illustrative embodiments are described above, any of a number of changes may be made to various embodiments without departing from the scope of the invention as described by the claims. For example, the order in which various described method steps are performed may often be changed in alternative embodiments, and in other alternative embodiments one or more method steps may be skipped altogether. Optional features of various device and system embodiments may be included in some embodiments and not in others. Therefore, the foregoing description is provided primarily for exemplary purposes and should not be interpreted to limit the scope of the invention as it is set forth in the claims. 
     The examples and illustrations included herein show, by way of illustration and not of limitation, specific embodiments in which the subject matter may be practiced. As mentioned, other embodiments may be utilized and derived there from, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. Such embodiments of the inventive subject matter may be referred to herein individually or collectively by the term “invention” merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept, if more than one is, in fact, disclosed. Thus, although specific embodiments have been illustrated and described herein, any arrangement calculated to achieve the same purpose may be substituted for the specific embodiments shown. This disclosure is intended to cover any and all adaptations or variations of various embodiments. Combinations of the above embodiments, and other embodiments not specifically described herein, will be apparent to those of skill in the art upon reviewing the above description.