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A mobility assistive device that can assist to navigate in the environment and keep away from collisions with obstacles could help reduce health costs and enhance the quality of care and independence of the elderly. Traditionally mobility assistive devices have been electromechanical devices which have the main function to provide physical support for the elderly whilst moving around such as canes and wheelchairs. Application of microcontrollers and wireless communication to mobility assistive devices have increased the functionality of these devices in terms of obstacle detection and information processing, and have brought exciting new concepts, which make these devices to be hand free and small. The proposed system is based on optical and ultrasonic sensors which can detect a wide range of obstacles, such as small objects on the walkway (e.g., toys), large static obstructions (e.g., building wall), as well as stairs and uneven surfaces, and warns the wearer several times before making contact with the object (e.g., 1.5m, 1.0m and 0.5m).