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In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route. In this paper, to apply a tactile display to a walking guide of the blind, its applicability is investigated. The methods for a 3D obstacle detection of an obstacle distribution using ultrasonic sensors, mapping to an array type tactile stimulator, and the tactile stimulator using vibration motors are proposed. The psychophysical experiment of vibrotactile pattern perception at palm is carried out and discussed. The experiment for the recognition of an obstacle distribution by tactile stimulation is performed and estimated. The applicability of a tactile stimulation to a walking guide of the blind is verified through the experiment.