WO2021099993A1 - Dispositif d'aide à l'orientation - Google Patents

Dispositif d'aide à l'orientation Download PDF

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Publication number
WO2021099993A1
WO2021099993A1 PCT/IB2020/060928 IB2020060928W WO2021099993A1 WO 2021099993 A1 WO2021099993 A1 WO 2021099993A1 IB 2020060928 W IB2020060928 W IB 2020060928W WO 2021099993 A1 WO2021099993 A1 WO 2021099993A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
signalling
elements
subsequent point
belt
Prior art date
Application number
PCT/IB2020/060928
Other languages
English (en)
Inventor
Francesco VOLPI
Original Assignee
Beltmap Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beltmap Srl filed Critical Beltmap Srl
Publication of WO2021099993A1 publication Critical patent/WO2021099993A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip

Definitions

  • the present invention relates to an orientation aid device, in particular for visually impaired or blind people.
  • the device comprises a plurality of vibration signalling elements applicable to a supporting element, such as a belt or the like, to be worn at the waist by a user, at least one said signalling element being adapted to be positioned towards the right side of the user and at least one said signalling element being adapted to be positioned towards the left side of the user; the device further comprises a localization unit provided with an antenna.
  • a supporting element such as a belt or the like
  • Orientation aids for visually impaired people are known and available in a variety of forms and types on the market
  • the classic rod allows the person to sense the ground around them, to locate walls, steps, or other obstacles, but is unable to guide the person towards an established path.
  • Orientation aids have therefore been developed which guide the user through non-visual directions towards the path. These systems identify a position and a direction of travel and indicate to the user the next change of direction to be made to follow the path.
  • Document EP0774245A1 describes a device applicable to a belt worn by the user and comprising two front signalling elements, respectively to the right and to the left, and connected to a processor provided with an electric compass. Once the desired direction is set, any slight deviation causes the appropriate signalling element to produce a vibration perceptible by the user, until the latter returns to the correct direction of travel.
  • Document 202016000085581 describes a plurality of vibration signalling devices applicable on the belt for indicating the path detected by GPS for outdoor environments or by a signal anchor network (beacon) for indoor environments. All these described devices of the prior art include the integration of a communication unit in the signalling devices fixed to the belt. This causes the reception of the signal to be disturbed by the user's own body, with inaccurate or even unusable results during the device's operation. It is in fact known that many antennas work much better if oriented towards the sky, and in any case not close to the body, a condition which cannot be obtained from the configuration of the currently known devices.
  • the present invention aims to overcome the aforementioned drawbacks of the prior art with an orientation aid device as described at the beginning, where in addition said localization unit is housed in a dedicated casing and separated from the signalling elements and provided with fastening means in a position distanced from the belt, the signalling elements being provided with at least one transceiver unit for the connection with said localization unit.
  • a first part comprises the vibrating elements to be positioned at the belt, which then act as an actuator of the device as in the currently known devices, but a second part dedicated only to positioning and not necessarily placed at the belt is combined therewith.
  • a second part dedicated only to positioning and not necessarily placed at the belt is combined therewith.
  • the supporting element may be a belt of any currently known type, and the term belt may also comprise an abdominal band, for example an elastic band.
  • the fastening means in a position distanced from the belt may for example be fastening means to the user's body and/or a guide dog and/or a cane.
  • the fastening means comprise a bracelet to be worn at the user's wrist.
  • the bracelet is easy to wear and, being at the end of the arm, ensures an exposed peripheral position distanced from the parts of the body which are most at risk of being covered or shaded.
  • a localization unit integrated in the bracelet, or means for anchoring the localization unit to an existing bracelet.
  • means for anchoring to other parts of the body may be provided, for example comprising a clip to be fastened to a coat or a hat, or the like.
  • the fastening means comprise a bib for said guide dog or a coupling member to a bib.
  • said antenna is of the helical type.
  • this type of antennas is less prone to the problem of directionality, and can therefore guarantee improved reception.
  • the use of conventional directional antennas can in fact be problematic in the case of localization units positioned at the belt, precisely because the mandatory positioning of the electronic board, with the plane of the board perpendicular to the ground, is the worst possible position for most antennas in terms of reception performance.
  • the localization unit is comprised in a smartwatch.
  • the object of the present invention is also an operating method of an orientation aid device for visually impaired people comprising a plurality of vibration signalling elements applicable to a belt to be worn at the waist by a user, at least one said signalling element being adapted to be positioned towards the right side of the user and at least one said signalling element being adapted to be positioned towards the left side of the user, the device comprising a localization unit provided with an antenna.
  • the method involves the following steps: a) defining a path as a graph of consecutive points towards a destination; b) real-time identification of the user's position and direction of travel; c) real-time calculation of the deviation, i.e., the angular difference, between the direction towards the subsequent point to be reached and the direction of travel detected; d) activating in a vibrating condition at least one signalling element to indicate to the user a change in the direction of travel until reaching the correct direction towards the subsequent point to be reached.
  • the method simultaneously includes the following additional steps: e) real-time calculation of the deviation between the direction towards the further subsequent point following the subsequent point to be reached and the direction of travel detected; f) activating in a further vibration condition at least one signalling element to indicate to the user a change in the direction to be made to reach the correct direction towards the further subsequent point following the subsequent point to be reached, the further vibration condition being different from the vibration condition referred to in step d).
  • the orientation aid device indicates the direction of travel according to the graph of the path leading from the user's starting point to the destination point.
  • the direction of travel is indicated by the device by activating the vibration signalling element closest to the correct angle. At that point the user must change their direction of travel towards that indicated by the activated signalling element, up to a correct direction of travel.
  • the orientation aid device comprises a front central signalling element, the vibration of which is activated when the direction of travel is brought to the correct direction by the user: that is the signal for the user directed in the correct direction.
  • the vibration is preferably continuous for as long as the direction maintained by the user is correct.
  • a central vibration may be activated for a predetermined time sufficient to communicate to the user that they have taken the correct direction, and then the central vibration may be deactivated.
  • a predetermined time is provided in which two signalling elements can vibrate together: the first vibrating element always indicating the stage about to be reached, while a second instead indicates the subsequent stage.
  • the device is provided with a command interface, which command interface is operable by the user to set said further subsequent point to reach as the subsequent point to reach.
  • control interface comprises a button, the pressing of which causes the change described above.
  • the additional vibration condition is intermittent.
  • the one indicating the subsequent point to be reached vibrates constantly, while the one indicating the further subsequent point vibrates intermittently, i.e., with pulses.
  • fig. 1 illustrates a first example embodiment with localization unit provided in a bracelet
  • fig. 2 illustrates a second embodiment example with localization unit provided on the bib of a guide dog
  • fig. 3 illustrates an embodiment example of the device, wearable in two different modes
  • fig. 4a and 4b illustrate a first mode
  • fig. 5a and 5b illustrate a second mode
  • fig. 6 shows a diagram of the method.
  • Figure 1 illustrates a first embodiment example of the orientation aid device for visually impaired people according to the present invention
  • the device comprises a belt 1 to be worn at the waist by a user 3 and provided with a plurality of vibration signalling elements 10, 11 , 12, 13 and 14.
  • the signalling elements are integrated in the belt 1 , alternatively they can be coupled to the belt 1 by known coupling means.
  • the signalling elements are arranged on the belt 1 in such a way that, in the worn condition thereof, they are located on the front part of the user 3.
  • a signalling element 12 is positioned centrally in the buckle area, two signalling elements 10 and 11 are positioned towards the right side of the user 3, in a position respectively farthest and closest to the central signalling element 12, and two additional signalling elements 13 and 14 are positioned towards the right side of the user 3, in a position respectively closest and farthest from the central signalling element 12.
  • two inner elements 11 and 13 indicating reduced direction deviation angles and two outer elements 10 and 14 indicating greater direction deviation angles are obtained.
  • the vibration signalling elements are of the currently known type and electrically powered and are preferably wired together, alternatively they are independently powered and communicate via wireless connection.
  • the device further comprises a localization unit 2 housed in a dedicated casing and separated from the signalling elements and provided with fastening means to the user's body 3 in a position distanced from the belt as shown in figure 1.
  • the signalling elements 10, 11, 12, 13 and 14 are provided with at least one transceiver unit for the connection with said localization unit 2.
  • the localization unit 2 is preferably of the global navigation satellite system (GNSS) type. Alternatively, the localization unit 2 can use communication with multiple anchors or beacons scattered in an environment for indoor applications.
  • GNSS global navigation satellite system
  • the central signalling element 12 is provided with a short-range wireless transceiver unit, preferably a Bluetooth unit, for communication with a smartphone and/or with the localization unit 2, which in turn is provided with a corresponding short-range wireless transceiver unit.
  • the central signalling element is provided with a processing unit which controls the entire belt 1 , which belt 1 thus acts as a single device.
  • the processing unit is responsible for communicating with the localization unit and managing the correct activation of the signalling elements in real time.
  • the belt transceiver unit communicates with the smartphone 4 of the user 3, which smartphone 4 in turn communicates with the transceiver unit of the localization unit 2.
  • the smartphone 4 is suitably provided with a communication management app between the signalling elements and the localization unit 2 and setting the vibration states of the five signalling elements.
  • the smartphone 4 acts as a communication hub between the localization unit 2 and the signalling elements 10, 11, 12, 13 and 14 and thus ensures the connection of the transceiver unit of the signalling elements with the localization unit 2.
  • the smartphone 4 communicates only with the transceiver unit provided in the central signalling element 12, while the latter communicates directly with the localization unit 2.
  • the fastening means of the localization unit 2 to the user's body 3 comprise a bracelet 20 to be worn on the wrist.
  • a localization unit 2 integrated in the bracelet 20, or anchoring means of the localization unit 2 to an existing bracelet 20, may be provided.
  • anchoring means may be provided to other parts of the body, for example comprising a clip to be fastened to a coat or a hat, or the like, or to a white cane.
  • the antenna of the localization unit 2 may be of the directional type, or advantageously of the helical type.
  • the localization unit 2 is comprised in a smartwatch.
  • the smartphone 4 can be provided for communication with the smartwatch, or alternatively the smartwatch can act independently for the localization and communication with the signalling devices with consequent management and setting of the same.
  • Figure 2 illustrates a further embodiment example in which the fastening means comprise a bib 21 for a guide dog 6 or a coupling member to an existing bib 21.
  • the localization unit 2 is placed in the top area of the bib 21 and facing upwards.
  • FIG 3 illustrates an embodiment of the device, which may be worn in multiple modes.
  • the supporting element of the device comprises a flexible band 15, preferably made of silicone, to which the signalling elements 10, 11 , 12, 13 and 14 are fastened and to which a casing 16 for a central electronic control unit is fastened in a central position.
  • the signalling elements 10, 11 , 12, 13 and 14 are connected to the central electronic control unit, which in turn communicates with the smartphone 4 and with the transceiver unit of the localization unit 2.
  • the smartphone 4 identifies the path on the internet and transmits it to the central control unit, communicating with the localization unit 2 and piloting the signalling elements 10, 11 , 12, 13 and 14 through said central control unit.
  • the flexible band 15 is provided with holes 150 for engaging retaining elements for the fastening to the user's body.
  • the retaining elements are clip elements 17, which can carry out a coupling to the user's pants or to a belt 1 .
  • These clip elements 17 have enlarged head pins 170 on one side engaged in the holes 150 and on the other side a clip 171 , adapted to grip on the belt 1 or on the belt edge of the trousers, as illustrated in figure 4b.
  • the retaining elements couple the flexible band 15 to an abdominal band 18 which can be fastened behind the back and consist of fabric-retaining elements 19 with pins provided with an enlarged head adapted to be inserted in the holes 150.
  • Figure 6 illustrates an operating method of the device described above, according to the present invention
  • the method begins with the definition 50 of a path, which connects a starting point to a destination point as a graph of consecutive points.
  • the next step is the real-time identification 51 of the position and direction of travel of the user 3 by the localization unit 2.
  • the real-time calculation of the deviation between the direction towards the subsequent point to be reached and the direction of travel detected 52 is carried out, and at the same time the real-time calculation of the deviation between the direction towards the further subsequent point after the subsequent point to be reached and the direction of travel detected 53.
  • the vibration signalling elements 10, 11 Based on this information, the vibration signalling elements 10, 11 ,
  • the internal or external signalling element is placed in a vibrating condition depending on the amount of the deviation, to indicate to the user 3 a change in the direction of travel until the correct direction towards the subsequent point to be reached 54 is obtained.
  • the user 3 changes the direction of travel as indicated by the signalling element and moves in the correct direction provided by the path, made identifiable to the user through the vibration of the central signalling element 12, indicating that the change in direction has been sufficient.
  • a signalling element is activated in a further vibration condition 55 to indicate to the user a change in the direction to be made to reach the correct direction towards the further subsequent point after the subsequent point to be reached.
  • the additional vibration condition is different from the vibration condition referred to in step 54, to allow the user 3 to distinguish the two different types of signalling without the possibility of confusion.
  • the first vibration condition is continuous while the further vibration condition is intermittent.
  • a command interface may also be provided, which command interface is operable by the user 3 to set as the subsequent point to reach said further subsequent point after the subsequent point to reach.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un dispositif d'aide à l'orientation pour des personnes malvoyantes, comprenant une pluralité d'éléments de signalisation vibrants (10, 11, 12, 13, 14) applicables à un élément support, tel qu'une ceinture (1) ou similaire, à porter au niveau de la taille par un utilisateur (3), au moins l'un desdits éléments de signalisation (10, 11) étant conçu pour être positionné vers le côté droit de l'utilisateur (3) et au moins l'un desdits éléments de signalisation (13, 14) étant adapté pour être positionné vers le côté gauche de l'utilisateur (3), le dispositif comprenant une unité de localisation (2) munie d'une antenne. Ladite unité de localisation (2) est logée dans un boîtier dédié et séparé des éléments de signalisation (10, 11, 12, 13, 14) et pourvu de moyens de fixation au corps de l'utilisateur (3) et/ou d'un chien-guide (6) dans une position éloignée de l'élément support (1), les éléments de signalisation (10, 11 12, 13, 14) étant pourvus d'au moins une unité d'émission-réception pour la connexion avec ladite unité de localisation (2).
PCT/IB2020/060928 2019-11-20 2020-11-19 Dispositif d'aide à l'orientation WO2021099993A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102019000021699 2019-11-20
IT102019000021699A IT201900021699A1 (it) 2019-11-20 2019-11-20 Dispositivo di ausilio all’orientamento

Publications (1)

Publication Number Publication Date
WO2021099993A1 true WO2021099993A1 (fr) 2021-05-27

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PCT/IB2020/060928 WO2021099993A1 (fr) 2019-11-20 2020-11-19 Dispositif d'aide à l'orientation

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IT (1) IT201900021699A1 (fr)
WO (1) WO2021099993A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3132208A1 (fr) 2022-02-01 2023-08-04 Artha France Système d’aide à l'orientation comprenant des moyens d'acquisition d'un environnement visuel réel ou virtuel, des moyens d'interface homme-machine non visuelle et des moyens de traitement de la représentation numérique dudit environnement visuel.

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1070832A (zh) * 1992-09-12 1993-04-14 刘昌豪 微电子健美带
JPH08229848A (ja) * 1995-02-28 1996-09-10 Max Co Ltd 連結形ファスナー携帯用保持具
US5807111A (en) * 1995-11-16 1998-09-15 Schrader; Jens Orientation aid
EP1220179A2 (fr) * 2000-12-20 2002-07-03 Nokia Corporation Système de navigation
US20130069862A1 (en) * 2011-01-28 2013-03-21 Empire Technology Development Llc Remote movement guidance
US20130093852A1 (en) * 2011-10-12 2013-04-18 Board Of Trustees Of The University Of Arkansas Portable robotic device
CN103431979A (zh) * 2013-08-22 2013-12-11 浙江大学 基于超声波测距原理的智能导盲系统
US20180040258A1 (en) * 2013-10-29 2018-02-08 Nordin Kouache Method and system for transmitting tactile instructions to a human body
US20180066953A1 (en) * 2014-05-08 2018-03-08 Brown University Navigation methods and apparatus for the visually impaired

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1070832A (zh) * 1992-09-12 1993-04-14 刘昌豪 微电子健美带
JPH08229848A (ja) * 1995-02-28 1996-09-10 Max Co Ltd 連結形ファスナー携帯用保持具
US5807111A (en) * 1995-11-16 1998-09-15 Schrader; Jens Orientation aid
EP1220179A2 (fr) * 2000-12-20 2002-07-03 Nokia Corporation Système de navigation
US20130069862A1 (en) * 2011-01-28 2013-03-21 Empire Technology Development Llc Remote movement guidance
US20130093852A1 (en) * 2011-10-12 2013-04-18 Board Of Trustees Of The University Of Arkansas Portable robotic device
CN103431979A (zh) * 2013-08-22 2013-12-11 浙江大学 基于超声波测距原理的智能导盲系统
US20180040258A1 (en) * 2013-10-29 2018-02-08 Nordin Kouache Method and system for transmitting tactile instructions to a human body
US20180066953A1 (en) * 2014-05-08 2018-03-08 Brown University Navigation methods and apparatus for the visually impaired

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3132208A1 (fr) 2022-02-01 2023-08-04 Artha France Système d’aide à l'orientation comprenant des moyens d'acquisition d'un environnement visuel réel ou virtuel, des moyens d'interface homme-machine non visuelle et des moyens de traitement de la représentation numérique dudit environnement visuel.

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