## Common ground
All options are mobility assistance devices designed for disabled persons, aiding movement or support.
## Options at a glance
**6602.00 – Self-guided walking stick**
- **Defining trait:** Uses automated guidance (e.g., sensors or AI) to assist blind or low-vision users without manual input.
- **Typical examples:** Smart cane with obstacle detection and route guidance.
- **Best fit when:** The device autonomously detects obstacles or guides the user via feedback (sound, vibration).
**8428.90 – Mobile lifting equipment**
- **Defining trait:** Designed to lift or transfer users (e.g., from bed to chair), not for walking or transport.
- **Typical examples:** Ceiling hoists, sit-to-stand lifts.
- **Best fit when:** The primary function is lifting or transferring a person, not mobility during movement.
**8543.70 – Ultrasonic obstacle-detecting cane**
- **Defining trait:** Uses ultrasonic sensors to detect obstacles up to 2 meters away and alerts the user.
- **Typical examples:** Cane with beep alerts or vibration for obstacles.
- **Best fit when:** The device detects obstacles via electronic sensors, not just physical contact.
**8713.10 – Non-motorized mobility vehicle**
- **Defining trait:** Wheelchair or similar vehicle without mechanical propulsion; user propels manually.
- **Typical examples:** Manual wheelchair, standing frame.
- **Best fit when:** The device is pushed by the user and has no motor.
**8713.90 – Motorized mobility vehicle**
- **Defining trait:** Has a motor for propulsion; user controls speed/direction via joystick or remote.
- **Typical examples:** Power wheelchair, electric scooter.
- **Best fit when:** The device moves under its own power with a motor.
**9019.10 – Mechanotherapy walking aid**
- **Defining trait:** Used for rehabilitation therapy to improve gait or muscle strength via mechanical assistance.
- **Typical examples:** Gait trainer, robotic walker for physical therapy.
- **Best fit when:** The device is used in clinical or therapeutic settings to train walking.
**9021.10 – Orthopedic mobility appliances**
- **Defining trait:** Broad category including various support devices (wheeled carts, rotators) not primarily for walking.
- **Typical examples:** Walker with tray, standing aid, transfer board.
- **Best fit when:** The device is used for support, positioning, or transfer, not continuous mobility.
**9021.90 – Multi-functional walking aid**
- **Defining trait:** Combines wheels, seat, brakes, basket—designed for both standing and seated use.
- **Typical examples:** All-terrain walker with seat and storage.
- **Best fit when:** The device offers sitting, storage, and mobility in one unit.
## Key differences
| Option | Propulsion | Primary Use | Sensing Tech | Mobility Type |
|-------|------------|-------------|--------------|----------------|
| 6602.00 | None (self-guided) | Navigation | AI/autonomous | Walking aid |
| 8428.90 | Motorized | Lifting/transfer | None | Transfer device |
| 8543.70 | None | Obstacle detection | Ultrasonic | Cane |
| 8713.10 | Manual | Transport | None | Manual wheelchair |
| 8713.90 | Motorized | Transport | None | Power wheelchair |
| 9019.10 | Mechanical | Therapy | None | Rehab aid |
| 9021.10 | None | Support/transfer | None | General appliance |
| 9021.90 | Manual | Walking + sitting | None | Multi-use walker |
## How to choose
- Does it move under its own power? → 8713.90
- Is it used for lifting or transferring a person? → 8428.90
- Does it detect obstacles using sensors (e.g., ultrasonic)? → 8543.70
- Is it primarily for therapy or rehabilitation? → 9019.10
- Does it have a seat, basket, and wheels for both walking and sitting? → 9021.90
- Is it a cane with electronic guidance? → 6602.00
## Overlaps & pitfalls
- **8543.70** overlaps with **6602.00** (both are smart canes); priority depends on whether the device is fully self-guided or just sensor-equipped.
- **9021.90** may overlap with **9021.10**; use **9021.90** only if it includes seat, brakes, and basket.
- **8713.10/8713.90** are easily confused—check for motorization.
- If unsure, choose based on the device’s **main function**: mobility (walking), transfer, therapy, or support