Auditory guidance with the Navbelt-a computerized travel aid for the blind (original) (raw)
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Mobile robot obstacle avoidance in a computerized travel aid for the blind
Proceedings of the 1994 IEEE International Conference on Robotics and Automation
A blind traveler walking through an unfamiliar environment, and a mobile robot navigating through a cluttered environment have an important feature in common: both have the kinematic ability to perform the motion, but are depended on a sensory system to detect and avoid obstacles. This paper describes the use of a mobile robot obstacle avoidance system as a guidance device for blind and visually impaired people. Just like electronic signals are sent to a mobile robot's motor controllers, auditory signals can guide the blind traveler around obstacles, or alternatively, they can provide an "acoustic image" of the surroundings. The concept has been implemented and tested in a new traveling aid for the blind, called the Navbelt. Experimental results of subjects traveling with the Navbelt in different surroundings are presented.
The NavBelt-a computerized travel aid for the blind based on mobile robotics technology
IEEE Transactions on Biomedical Engineering, 1998
This paper presents a new concept for a travel aid for the blind. A prototype device, called the NavBelt, was developed to test this concept. The device can be used as a primary or secondary aid, and consists of a portable computer, ultrasonic sensors, and stereophonic headphones. The computer applies navigation and obstacle avoidance technologies that were developed originally for mobile robots. The computer then uses a stereophonic imaging technique to process the signals from the ultrasonic sensors and relays their information to the user via stereophonic headphones. The user can interpret the information as an acoustic "picture" of the surroundings, or, depending on the operational mode, as the recommended travel direction. The acoustic signals are transmitted as discrete beeps or continuous sounds. Experimental results with the NavBelt simulator and a portable prototype show that users can travel safely in an unfamiliar and cluttered environment at speeds of up to 0.8 m/s. Index Terms-Auditory localization, binaural feedback, mobile robots, obstacle avoidance, travel aid for the blind, ultrasonic sensor.
IEEE Robotics & Automation Magazine, 2003
This article presents two novel travel aids for blind pedestrians. The two computerized devices are based on advanced mobile robotics obstacle avoidance technologies. The first aid -the NavBelt -is worn by the user like a belt and is equipped with an array of ultrasonic sensors. It provides, via a set of stereo earphones, acoustic signals that guide the user around obstacles, or "displays" a virtual acoustic panoramic image of the traveler's surroundings. One limitation of the NavBelt is that it is exceedingly difficult for the user to comprehend the guidance signals in time to allow fast walking.
2004
This article presents two novel travel aids for blind pedestrians. The two computerized devices are based on advanced mobile robotics obstacle avoidance technologies. The first aid – the NavBelt – is worn by the user like a belt and is equipped with an array of ultrasonic sensors. It provides, via a set of stereo earphones, acoustic signals that guide the user around obstacles, or “displays” a virtual acoustic panoramic image of the traveler’s surroundings. One limitation of the NavBelt is that it is exceedingly difficult for the user to comprehend the guidance signals in time to allow fast walking. A newer device, called GuideCane effectively overcomes this problem. The GuideCane uses the same mobile robotics technology as the NavBelt but it is a wheeled device pushed ahead of the user via an attached cane. When the GuideCane detects an obstacle it steers around it. The user immediately feels this steering action and can follow the GuideCane’s new path easily and without any consci...
Computerized obstacle avoidance systems for the blind and visually impaired
International Series on Computational Intelligence, 2000
This chapter gives an overview of existing devices for the guidance of visually impaired pedestrians and discusses the properties of the white cane and of conventional electronic travel aids. Also described are the disadvantages of using a standard mobile robot for this purpose. Next follows a description of the NavBelt, a computerized travel aid for the blind that is based on advanced mobile robot obstacle avoidance technology. The NavBelt is worn by the user like a belt and, via a set of stereo earphones, provides acoustic signals that guide the user around obstacles. One limitation of the NavBelt is that it is exceedingly difficult for the user to comprehend the guidance signals in time to allow fast walking. This problem is effectively overcome by a newer device, called GuideCane. The GuideCane uses the same mobile robotics technology as the NavBelt but it is a wheeled device pushed ahead of the user via an attached cane. When the GuideCane detects an obstacle it steers around it. The user immediately feels this steering action and can follow the GuideCane's new path easily and without any conscious effort. This chapter describes the GuideCane system, including the mechanical, electronic, and software components, followed by a description of the intuitive user-machine interface. The chapter ends with a discussion of the GuideCane's novel information transfer approach and its advantages and disadvantages in practical term.
A Navigation Aid for Blind People
2011
This paper presents a navigation aid for the blind based on a microcontroller with synthetic speech output. The system consists of two vibrators, two ultrasonic sensors mounted on the user's shoulders and another one integrated into the cane. It is able to give information to the blind about urban walking routes and to provide real-time information on the distance of over-hanging obstacles within 6 m along the travel path ahead of the user. The suggested system can then sense the surrounding environment via sonar sensors and sending vibro-tactile feedback to the user of the position of the closest obstacles in range. For the ultrasonic cane, it is used to detect any obstacle on the ground. Experimental results show the effectiveness of the proposed system for blind navigation.
The GuideCane-a computerized travel aid for the active guidance of blind pedestrians
Proceedings of International Conference on Robotics and Automation
This paper introduces the GuideCane, a novel device designed to help blind or visually impaired travelers to navigate safely and quickly among obstacles and other hazards faced by blind pedestrians. The GuideCane, currently under development at the University of Michigan's Mobile Robotics Lab, comprises of a long handle and a "sensor head" unit that is attached at the distal end of the handle. The sensor head is mounted on a steerable but unpowered two-wheeled steering axle. During operation, the user pushes the lightweight GuideCane ahead of him/herself. Ultrasonic sensors mounted on the sensor head detect obstacles and steer the device around it. The user feels the steering command as a very noticeable physical force through the handle and is able to follow the GuideCane's path easily and without any conscious effort.
International Journal of Computer and Electrical Engineering, 2014
This paper describes the development of a wearable navigation aid for blind and visually impaired persons to facilitate their movement in unfamiliar indoor environments. It comprises of a Kinect unit, a Tablet PC, a microcontroller, IMU sensors, and vibration actuators. It minimizes reliance on audio instructions for avoiding obstacles and instead guides the blind through gentle vibrations produced in a wearable belt and a light helmet. By differentiating obstacles from the floor, it can detect even relatively small-size obstacles. It can also guide the blind to reach a desired destination (office/room/elevator) within an unfamiliar building with the help of 2-D printed codes, RGB camera of Kinect unit, a compass sensor for orienting the user towards the next direction of movement, and synthesized audio instructions. The developed navigation system has been successfully tested by both blindfolded and blind persons.
Obstacle Avoidance and Location Indication System for the Visually Impaired Person
International Journal of Scientific and Research Publications (IJSRP), 2018
This paper presents a theoretical model with a system providing an assistive guided robot for a visually impaired person. The overall operation of this system works together with OBJECT DETECTION and LOCATION DETECTION. The robot consists of two parts-the HOUSING: is composed of five units: Main Unit (Arduino) , the Obstacle Detection And Avoidance Unit (Ultrasonic Sensors) and the Location Detection Unit (GPS , GSM , and micro SD card adapter); and the HANDLE: is equipped with a Thumb-Controlled Joystick to control the robot and also provides significant force feedback to the hand of the user to help guide their path.