In recent decades, demographic trends have highlighted a progressive shift towards an ageing society, driven by increased life expectancy. As a consequence, the number of people with reduced mobility is steadily increasing, leading to a growing demand for assistive mobile mobility technologies such as electric powered wheelchairs (EPWs). Autonomous navigation has been widely studied for mobile robots and EPWs, with safety traditionally considered the primary objective and passenger comfort treated as a secondary aspect, typically limited to vibration analysis or mechanical design considerations. However, abrupt acceleration, excessive over-acceleration and unnatural motion patterns significantly affect user comfort and trust in assistive mobile robots.