“…These aids convey information to users via different modalities: auditory [1,15,29,82,86] and vibrotactile [4,52,69,74]. Audio aids provide information with either verbal warnings and instructions [3,19,58,88] or sonification [7,36,43,61] or both [45]. For example, NavCog3 used BLE beacons for localisation and provide turn-by-turn instructions and descriptions of nearby landmarks and points of interest via bone-conducting headphone [81].…”