The Elderly Bodily Assistance Robot, or E-BAR, is a mobile robot designed to physically support the elderly and prevent them from falling as they move around their homes. It acts as a set of robotic handlebars that follows a person from behind. A user can walk independently or lean on the robot’s arms for support. The robot can support the person’s full weight, lifting them from sitting to standing and vice versa along a natural trajectory. And the arms of the robot can them by rapidly inflating side airbags if they begin to fall.