In this work, we present a framework supported by mobile and web apps and able to propose personalized pedestrian routes that match user mobility profile considering mobility impediments factors. We explain how these later have been defined using a pedestrian-centric approach based on travel experiences as perceived in the field by senior citizens. Through workshops, six main factors that may influence pedestrian route choices were revealed: passability, obstacle in path, surface problem, security, sidewalk width, slope. These categories were used to build digital tools and guide a citizen participatory approach to collect geolocated points of obstacle documented with walkability information (picture, category, impact score, free comment). We also involved citizens to evaluate these information and especially senior referents for validation. Finally we present how we connect these points of obstacle with a pedestrian network based on OpenStreetMap to configure a routing cost function. The framework has been partially deployed in 2020 with limited people due to the pandemic. Nonetheless, we share lessons learned from interaction with citizens in the design of such a framework whose underlying workflow is reproducible. We plan to further assess its relevance and sustainability in the future.