Mobility loss has a major impact on autonomy. Smart rollators have been proposed to enhance human abilities when conventional devices are not enough. Many human-robot interaction systems have been proposed in the last decade in this area. Comparative analysis shows that mechanical issues aside, they mainly differ in i) equipped sensors and actuators; ii) input interface; iii) operation modes, and iv) adaptation capabilities. This paper presents a review and a tentative taxonomy of approaches during the last 6 years. In total, 92 papers have been reviewed. We have discarded works not focused on humanrobot interaction or focused only on mechanical adaptation. A critical analysis is provided after the review and classification, highlighting systems tested with their target population.

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