The active obstacle avoidance behavior of the Intelligent Mobility Aid(IMA) is very important in the process of assistance, tracking, and safety protection of users with walking disabilities by the IMA. In this paper, a human-machine joint control strategy for IMA is proposed based on the fuzzy artificial potential field method (FAPF), which is applicable to the local path planning needs of the IMA. The FAPF optimizes the traditional artificial potential field (APF) method, reduces the occurrence of the APF, which easily falls into local minima where the target is unreachable, and introduces the fuzzy adaptive adjustment of the APF repulsive gain coefficients to meet the application requirements of the IMA in practice and improve the stability of the algorithm. FAPF is experimented with on the MATLAB simulation platform, and the simulation experiments show that FAPF can safely avoid obstacles, the target point arrival rate is 89.7%, and it improves the trajectory smoothness of the IMA in complex environments. Meanwhile, application experiments on the IMA prove the feasibility and practicality of FAPF. After the application of FAPF, the IMA actively avoids obstacles and guides the user to choose a safer path in the process of following the user.