Wayfinding and navigation in haptic virtual environments

Cognitive maps are mental models of the relative locations and attribute phenomena of spatial environments. The ability to form cognitive maps is one of the innate gifts of nature. An absence of this ability can have crippling effect, for example, on the visually impaired. The sense of touch becomes the primary source of forming cognitive maps for the visually impaired. Once formed, cognitive maps provide precise mapping of the physical world so that a visually impaired individual can successfully navigate with minimal assistance. However, traditional mobility training is time consuming, and it is very difficult for the blind to express or revisit the cognitive maps formed after a training session is over. The proposed haptic environment will allow the visually impaired individual to express cognitive maps as 3D surface maps, with two PHANToM force-feedback devices guiding them. The 3D representation can be finetuned by the care-giver, and then felt again by the visually impaired in order to form precise cognitive maps. In addition to voice commentary, a library of pre-existing shapes familiar to the blind will provide orientation and proprioceptive haptic-cues during navigation. A graphical display of cognitive maps will provide feedback to the care-giver or trainer. As the haptic environment can be easily stored and retrieved, the MoVE system will also encourage navigation by the blind at their own convenience, and with family members.