A proposal of the obstacle avoidance behavior support sensory substitution system by the haptic vibrating device in consideration of closest obstacle indication

We present a sensory substitution display device and a signal transform method in accordance with the intuitive operation achievement for a travel aid system. This yaw angle display device uses 2 receivers to compensate the uncertainty in the closest position due to the single ultrasonic directivity. This device gives a more accurate position to the user, near miss reduction is observed. The proposed signal transform method describes a more precise attention range and gives clear distinction between noticed depth and ordinary searching motion for individual users. The transform shows that the robustness corresponds to each human centered sensory substitution system.