Sistema vestível de navegação baseado em feedback vibrotátil para pedestres em condições de baixa visibilidade

Abstract

This work presents the development of a wearable tactile navigation device for people with visual impairment, called "Volante". The system uses a belt with 11 vibrating motors positioned around the waist, controlled by an ESP32 plate with MPU9250 inertial sensor, which employs an Extended Kalman Filter to estimate user orientation in real time. The touch interface converts yaw angle into vibration patterns, allowing the user to perceive their direction relative to a predefined trajectory. Custom hardware with PCB, 3D printed buckle and cotton belt with Velcro, and modular firmware were developed, with experimental validation of the orientation filter. The prototype demonstrated technical feasibility, with stable convergence of the EKF and operation of the motors, representing a low-cost alternative to electronic canes and guides, contributing to the autonomy of blind people.