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39	39	1. A PwD experiences minimal hindrance of WAF in terms of proximity and walking speed
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41	41	Claim 1 shows the focus of research is on overall support of patients in and possibly outside of our activity. Furthermore we have other claims that support this.
42		-Claim 2 is based on WAF lowering the bar to engage in activities on a persons own volition. Especially in the context of PwDs that have an increased feeling of being a burden for their caretakers. The dementia and age induced hindrances are partially alleviated with the guidance of either a caretaker or WAF. The induced dependence is intrinsically felt less for a robot than another human.
	42	+Claim 2 is based on WAF lowering the bar to engage in activities on a person's own volition. Especially in the context of PwDs that have an increased feeling of being a burden to their caretakers. The dementia and age induced hindrances are partially alleviated with the guidance of either a caretaker or WAF. The induced dependence is intrinsically felt less for a robot than another human.
43	43	Our third and fourth claims are based on the particularities of MiRo being a doglike robot which specify a set of expectations somewhere in between dog behaviour and complex robot behaviour.
44	44	Through its expressive means, WAF can notify a user of the system. Movements of the ears, head, tail, eyes and body indicate attention and direction, but more direct cues such as light, sound and even vibration all aid in guiding the PwD back on track.
45	45	Where an actual dog would be able to adjust its movement to the dog owner during a walk, WAF needs to be able to tell when the MiRo should be closer to the PwD and when it can be further away.