The SHARE-it architecture is designed to inform and assist the user and his/her caregivers through monitoring and mobility help. Thus, we plan to contribute to the development of the next generation of assistive devices for older persons or people with disabilities so that they can be self-dependent as long as possible. In this paper we focus on the development of an intelligent pedestrian mobility aid that we call i-Walker. i-Walker is a robotically augmented rollator to reduce fall risk and confusion, and to increase rollator convenience and enjoyment. SHARE-it provides an Agent-based Intelligent Decision Support System to support elders with cognitive and/or motorial problems.