In nowadays aging society, many people require assistance for pedestrian mobility. In some cases, assistive devices require a certain degree of autonomy when the persons' disabilities difficult manual control. Our aim is to develop an open and innovative reference architecture, based upon ontologies and agent services, that will allow plug and play and cost-effective interconnection of existing and new services in all domains required for the independent and autonomous living of the elderly and their enhanced Quality of Life (QoL). We show how the use of a robotic platform with some embedded intelligence the i-Walker, helps to improve and speed-up the performance of the post-stroke individuals' rehabilitation.