“…To overcome the limitations of traditional mobility aids, many technological aids have been proposed to support mobility. Using a wide range of sensors such as ultrasonic sensors s [67,82,83], depth sensors [15,38,69], cameras [83,86,87], RFID tags [2,29], Bluetooth low energy (BLE) beacons [26], GPS [41], these systems assist users with wayfinding [1,26,52], obstacle avoidance [15,38,43,67,69,86], or both [29,41,81,83,87]. These aids convey information to users via different modalities: auditory [1,15,29,82,86] and vibrotactile [4,52,69,74].…”