Until now, the ASBGo’s prototypes present ad hoc functionalities. This means that neither one of the prototypes have a well defined system architecture i.e. it does not work as functional global system with every functionality working together and
so, makes it difficult the use of the device by a medical specialist. That being said, the main goal of this dissertation is the design and implementation of a modular and robust system architecture for the new version of the ASBGo Smart Walker
resulting in a improved ready-to-use device.
To achieve the main goal, some objectives have been outlined:
1. Conduct an extensive survey about important concepts for the development phase. Such research consists in the study and understanding of the previous ASBGo prototype, master the concepts related to ROS and gather the hardware and software requirements. This way, it will be possible to study and outline potential solutions to strike the design and implementation  phase the best way.
2. Development of the system software according to the functional requirements defined. Each proposed functionality of the Smart Walker will be well studied/planned and implemented. In general, the main functionalities consist in: real time sensors data acquisition and storage, robot locomotion, computer vision for the biofeedback, graphical user interfaces and autonomous/semiautonomous navigation. Each functionality will consist in a process and/or will be interconnected to intermediate processes. The software "skeleton" of the robot will be defined by ROS "forcing" the modular software design with clear interfaces, thereby improving abstraction, encapsulation and promoting code reuse, and will manage the processes  communication.
3. Development of the system hardware. Despite being enumerated after the software development, the design and implementation of the hardware and software will be performed in parallel. Necessary circuits will be delineated, built, tested and integrated in the robotic system.
4. Environment integration is such an important objective because the device will be put to the test. It will be confirmed its functionality in a medical environment, the users reaction and its success.