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This paper presents a new control scheme of an assistive robotic cart that helps a user easily transport objects in various weights. The maneuverability of the cart would be highly affected by the loaded weight of the cart and the friction between the wheel and the floor. Our focus is placed on how to enable the cart to offer easy maneuverability by creating desired interactions with a user. For this, a switched observer based impedance control scheme is proposed to allow the cart todoi:10.1109/roman.2012.6343738 dblp:conf/ro-man/LeeLKNC12 fatcat:ne57zpwia5cr7by7bzmgewkrhe