Abstract:
A processor, portable power source and Braille character touchpad with a first column area is described, containing three substantially linearly arranged finger responsive areas corresponding to column representations of a Braille character and an adjacent-offset second column area containing one finger responsive area to indicate a null column. Braille character is input by engaging at least one area of the three substantially linearly arranged finger responsive areas and the one finger responsive area. Alternatively, a Braille touchpad containing six finger responsive areas arranged in two columns corresponding to first and second column representations of a Braille character and an adjacent touch gesture pad is described, containing a plurality of finger and gesture responsive areas. A Braille character is input by engaging at least one of the six finger responsive areas and the plurality of finger and gesture responsive areas. Word processing and command action may be initiated by the gesture pad.

Description:
I. FIELD 
       [0001]    The following description relates generally to communication aids for the handicapped, and more particularly a multi-functional environmental aid for the visually handicapped. 
       II. BACKGROUND 
       [0002]    Visually handicapped (VH) people “read” or “write” using tactile communication means. The most famous means is the Braille system which was devised in 1821 by Louis Braille, a blind Frenchman. Each Braille character or cell is made up of six dot positions, arranged in a rectangle containing two columns of three dots each. A dot may be raised at any of the six positions to form sixty-four (2 6 ) permutations, including the arrangement in which no dots are raised. For reference purposes, a particular permutation may be described by naming the positions where dots are raised, the positions being universally numbered 1 to 3, from top to bottom, on the left, and 4 to 6, from top to bottom, on the right. For example, dots 1-3-4 would describe a cell with three dots raised, at the top and bottom in the left column and on top of the right column. In Braille text, dots 1-3-4 represent the letter m. The lines of horizontal Braille text are separated by a space, much like visible printed text, so that the dots of one line can be differentiated from the Braille text above and below. Punctuation is represented by its own unique set of characters. The presence or absence of dots gives the coding for the symbol. 
         [0003]    Six-key entry, associating a separate key with each dot position in a Braille cell, is used in both mechanical and electronic devices for generating Braille writing. Mechanical embossers (usually called Braillers) that support six-key entry are rugged but expensive machines (starting at around $500), and can be difficult for children and tiring for anyone. Special-purpose mechanical devices can be used for producing small quantities of embossed Braille in various forms such as stick-on labels, but require additional special paper or output supplies that can only be purchased at specialty low-vision stores and therefore are cost-prohibitive. 
         [0004]    Electronic Braille devices produce tactile output indirectly by displaying the file on a refreshable Braille display or printing it with an embosser. The majority of current electronic Braillers utilize six-key entry but there is an increasing number which can be purchased with either a six-key or standard keyboard, as the ability to type on a standard keyboard is perhaps even more important for blind (and visually impaired) persons than it is for sighted persons. Indeed, many blind adults have discovered that once they learn to touch type, they can type faster on a standard keyboard than on a six-key one. However, since a standard computer keyboard has 47 keys and can output 94 separate character codes by employing the Shift key, obviously not all of the keyboard characters can be mapped to the 63 unique cells of the six-dot Braille alphabet. 
         [0005]    Further, Braillers are limited in that they only allow “text” transfer. They do not provide any mechanism for assisting in day-to-day functions for the visually handicapped. For example, no Braille-capable device is currently available to allow a VH person to tell the color of an object, or direction, or any other information that is sight-specific. Such information is important for encouraging self-sufficiency for VH persons. 
         [0006]    Therefore, there has been a longstanding need in the VH community for systems and methods that provide not only communication capabilities, but also awareness capabilities for the VH. These and other aspects are detailed in the following description. 
       SUMMARY 
       [0007]    The following presents a simplified summary in order to provide a basic understanding of some aspects of the claimed subject matter. This summary is not an extensive overview, and is not intended to identify key/critical elements or to delineate the scope of the claimed subject matter. Its purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. 
         [0008]    Apparatuses are provided to facilitate communication by blind or visually handicapped people. In one aspect, an assistive device for the visually handicapped is provided, comprising: a processor; a portable power source coupled to the processor; and a Braille character touchpad connected to the processor for inputting data, comprising: a first column area containing three substantially linearly arranged finger responsive areas, the arrangement spatially corresponding to column representations of a Braille character; and a second column area adjacent to the first column area containing one finger responsive area offset from the three substantially linearly arranged finger responsive areas, the one finger responsive area operating to indicate a null column action for the column representations of a Braille character, wherein a Braille character is input by selectively engaging at least one area of the three substantially linearly arranged finger responsive areas and the one finger responsive area. 
         [0009]    In another aspect, an assistive device for the visually handicapped is provided, comprising: a processor; a portable power source coupled to the processor; and an input pad connected to the processor for inputting data, comprising: a Braille touchpad containing six finger responsive areas arranged in two columns, the arrangement spatially corresponding to first and second column representations of a Braille character; and a touch gesture pad adjacent to the Braille touchpad, containing a plurality of finger and gesture responsive areas, wherein a Braille character is input by selectively engaging at least one of the six finger responsive areas of the Braille touchpad and the plurality of finger and gesture responsive areas of the gesture pad, and wherein at least one of a word processing and command action is initiated by selectively engaging the plurality of finger and gesture responsive areas of the gesture pad. 
         [0010]    Methods are provided to facilitate communication by blind or visually handicapped people. In one aspect, a method of Braille character entry on a touch sensitive input pad is provided, comprising: a first pressing of at least one area of three substantially linearly arranged finger responsive areas and a single finger responsive area offset from the three substantially linearly arranged finger responsive areas; and a second pressing of at least one area of the three substantially linearly arranged finger responsive areas and the single finger responsive area offset from the three substantially linearly arranged finger responsive areas, wherein an arrangement of the first pressing corresponds to a first column representation of a Braille character and an arrangement of the second pressing corresponds to a second column representation of the Braille character, wherein a null column action is registered if the single finger responsive area is pressed. 
         [0011]    In another aspect, a method for Braille character or command entry on a touch sensitive input pad is provided, comprising: first pressing at least one of six Braille format arranged finger responsive areas on a touchpad; and second pressing a gesture pad to terminate entry of the Braille character or gesturing on the gesture pad to initiate a command. 
         [0012]    Systems and means are provided to facilitate communication by blind or visually handicapped people. In one aspect, an assistive device for the visually handicapped is provided, comprising: means for computing; means for providing power; and means for inputting finger motions, comprising: a first column area containing three substantially linearly arranged finger responsive areas, the arrangement spatially corresponding to column representations of a Braille character; and a second column area adjacent to the first column area containing one finger responsive area offset from the three substantially linearly arranged finger responsive areas, the one finger responsive area operating to indicate a null column action for the column representations of a Braille character, wherein a Braille character is input by selectively engaging at least one area of the three finger responsive areas and the one finger responsive area. 
         [0013]    In another aspect, an assistive device for the visually handicapped is provided, comprising: means for computing; means for providing power; and means for inputting finger motions, comprising: six finger responsive areas arranged in two columns, the arrangement spatially corresponding to first and second column representations of a Braille character; and a plurality of finger and gesture responsive areas adjacent to the six finger responsive areas, wherein a Braille character is input by selectively engaging at least one of the six finger responsive areas and the plurality of finger and gesture responsive areas, and wherein at least one of a word processing and command action is initiated by selectively engaging the plurality of finger and gesture responsive areas. 
         [0014]    To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings. These aspects are indicative, however, of but a few of the various ways in which the principles of the claimed subject matter may be employed and the claimed subject matter is intended to include all such aspects and their equivalents. Other advantages and novel features may become apparent from the following detailed description when considered in conjunction with the drawings. 
         [0015]    Other aspects of the disclosure are found throughout the specification. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0016]      FIG. 1  shows a high level block diagram of an exemplary system. 
           [0017]      FIG. 2  shows another high level block diagram of an exemplary system. 
           [0018]      FIG. 3  shows a detailed block diagram of the exemplary system of  FIG. 1 . 
           [0019]      FIG. 4  shows a block diagram of a segregation of exemplary processes. 
           [0020]      FIG. 5  depicts an exemplary commercial embodiment. 
           [0021]      FIG. 6  depicts another exemplary commercial embodiment. 
           [0022]      FIGS. 7A and 7B  illustrate the English Braille alphabet in dot and columnar cell formats. 
           [0023]      FIG. 8  depicts an exemplary finger gesture configuration, the “Braille M-Touch keyboard.” 
           [0024]      FIGS. 9A-9C  depict English Braille input of the alphabet letters a-c, respectively, using the exemplary Braille M-Touch keyboard of  FIG. 8 . 
           [0025]      FIG. 10  depicts the tactile dot placement of another exemplary finger gesture input configuration, the “Braille finger gesture pad”. 
           [0026]      FIG. 11  depicts the relative sensor placement corresponding to the tactile dot placement of  FIG. 10 . 
           [0027]      FIGS. 12A-12C  depict English Braille input of the alphabet letters a-c, respectively, using an exemplary “Braille finger gesture pad.” 
           [0028]      FIGS. 13A-13F  depict English Braille input of directional keyboard commands, using an exemplary “Braille finger gesture pad.” 
           [0029]      FIGS. 14A-14F  depict English Braille input of page access keyboard commands, using an exemplary “Braille finger gesture pad.” 
           [0030]      FIGS. 15A-15F  depict English Braille input of special keyboard commands, using an exemplary “Braille finger gesture pad.” 
           [0031]      FIGS. 16A-16F  depict English Braille input of insertion/edit keyboard commands, using an exemplary “Braille finger gesture pad.” 
           [0032]      FIG. 17  illustrates various possible Personal Digital Assistant (PDA) features in an exemplary embodiment. 
           [0033]      FIG. 18  shows a block diagram illustrating the connection of a 3-D magnetic sensor and a 3-D acceleration sensor to the processor in an exemplary embodiment. 
           [0034]      FIG. 19  depicts a flow chart showing a possible approach for pitch, roll and yaw angle determination and output. 
           [0035]      FIG. 20  depicts an example of calculations that can be used to determine pitch, roll and yaw angles from sensor data. 
           [0036]      FIG. 21  depicts another example of calculations that can be used to determine pitch, roll and yaw angles from sensor data. 
           [0037]      FIG. 22  depicts an exemplary device measurement function in one mode of operation. 
           [0038]      FIG. 23  illustrates the connections of a color sensor and LED components to the processor in an exemplary embodiment. 
           [0039]      FIG. 24  depicts an obstacle recognition algorithm for aid in walking. 
           [0040]      FIG. 25  depicts an exemplary compass/obstacle finger message module. 
           [0041]      FIG. 26  depicts aid in walking (recognition of a block or obstacle). 
           [0042]      FIG. 27  depicts aid in walking (recognition of a step or hole). 
           [0043]      FIG. 28  depicts aid in walking (recognition of a door, wall or opening). 
           [0044]      FIG. 29  shows a block diagram of a prototype exemplary system. 
           [0045]      FIG. 30  shows a block diagram of another prototype exemplary system. 
       
    
    
     DETAILED DESCRIPTION 
       [0046]    Various systems and methods are described for enabling blind or visually impaired persons to obtain needed information, such as time, calendar, alarm, navigation direction, ambient light and temperature conditions, as well as take or receive notes, etc., all in a hand held compact device. The exemplary device can also be configured to have digital storage and digital audio capabilities to store data, voice and music files, and record and play back audio. In some embodiments, the device may be connected to a personal computer (PC) for uploading and downloading files. The exemplary device can also be used by sight-abled users, particularly for learning Braille, etc. 
         [0047]    Introduction 
         [0048]      FIG. 1  shows a high level block diagram of an exemplary system  100 . As shown, processor  110  of the exemplary system  100  may receive user input via input module  111 , which may comprise any one or more of (tactile) user input unit(s)  112 , audio input  113 , and data input from sensor unit(s)  115  and so forth. The processor  110  processes and stores the data input using internal memory (not shown) and outputs the data via output module  117 , which may comprise any one or more of user feedback unit(s)  118 , audio output  119  and so forth. Alternatively, data may be read from or written to an external memory  103  in addition to the internal memory inherent in the processor  110 . 
         [0049]    The designation of user input unit(s)  112  as input is arbitrary as the input unit(s)  112  may in some embodiments both transmit data to and receive data from the processor  110 . It is noted that although  FIG. 1  shows singular input components  112 ,  113  and  115  and singular output components  118  and  119 , each of these components can employ more than one input or output unit on the system  100 , where such additional components can also be adapted for data input or output as according to design preference. It should be appreciated that more or less and alternative components may comprise input module  111  or output module  117 . Examples include and are not limited to visual input, tactile input, display output, or visual output. Optionally, power  105  may be supplied to the processor  110  and various input and output modules via an external power source  104 . Additionally, power  105  may be used by the processor  110  in performing the discussed functions, but also to charge an alternate power source  101 , which may comprise a rechargeable power source  106 . A power regulator  107  may be used, with a power bus  109 , to regulate the charging capacity and speed. The exemplary system  100  may be contained in a single device and (optionally) connectable to external devices and systems (not shown) via an external communication connection  120 . 
         [0050]      FIG. 2  shows a high level block diagram of an exemplary system  200 , facilitated by a power/communication bus  209 . In a further variation of the previously discussed system  100 , the connections between the discussed components may be facilitated and/or made through a power/communication bus  209 . As shown, power  205  can be provided directly to the processor  210  and also provided to the other components via the power/communication bus  209 . Processor  210  of the exemplary system  200  may receive user input via input module  211 , which may comprise (tactile) user input unit(s)  212 , audio input  213 , and further data input from sensor unit(s)  215 , through the power/communication bus  209 . The processor  210  processes and stores the data input using internal memory  202  and outputs the data via output module  217 , which may comprise user feedback unit(s)  218  and audio output  219 , through the power/communication bus  209 . While the processor  210  can inherently contain internal memory  202 , external memory  203  may be employed in addition, or as an alternative, to the internal memory  202  as a target for read and write functions by the processor  210 . This external memory  203  may also be connected via the power/communication bus  209 , or connected directly to the processor  210 . It should be appreciated that more or less and alternative components may comprise input module  211  or output module  217 . Examples include and are not limited to visual input, tactile input, display output, or visual output, etc. 
         [0051]      FIG. 3  shows a detailed block diagram of an exemplary communication system  300  comprising a microcontroller  310  that may receive user input via a finger gesture user input unit  312 , a microphone  313  for audio input, and further data input from sensor unit(s). The sensor unit(s) may include one or more unit(s) selected from one or a plurality of distance sensor  315 , ambient temperature sensor  325 , ambient light sensor  335 , color sensor unit  345 , motion sensor and navigation sensor  355 . The designation of finger gesture user input unit  312  as input is arbitrary as the finger gesture user input unit  312  can both transmit data to and receive data from the microcontroller  310 . Singular output components such as finger tactile actuator unit  318 , finger tactile compass actuator unit  328 , speaker(s)  319 , and headphone  339  are connected directly or indirectly to microcontroller  310 . It is noted that although singular input components  312 ,  313 ,  315 ,  325 ,  335 ,  345  and  355  and singular output components  318 ,  328 ,  319  and  339  are shown, each of these components can employ more than one input or output unit on the system  300 , where such additional components can also be adapted for data input or output described herein. 
         [0052]    The microcontroller  310  can be powered by external power  304  (shown here as an optional USB source), controlled by a battery charge controller  305 . The battery charge controller  305  can also control the speed and capacity for powering a rechargeable battery  306  and power regulator  307  (connected to a power bus  309 ). The microcontroller  310  processes the data input and stores the data using inherent internal memory (not shown) or external memory  303  (performing read/write operations) and may output the data via user feedback unit(s) in the form of a finger tactile obstacle actuator unit  318 , a finger tactile compass actuator unit  328 , and more conventional audio output in the form of a headphone  339  or speaker(s)  319  and so forth. For audio clarity, as shown, the audio signals from the microphone  313  may be processed by a microphone amplifier and filter  323  before being input to the microcontroller  310 . Conversely, the audio output signals are passed through a low pass filter and audio amplifier  329  to increase output clarity before being output through the headphones  339  and/or speaker(s)  319 . An external port such as a USB port  320  may be configured. 
         [0053]      FIG. 4  shows a block diagram  400  showing a segregation of exemplary processes. Main program  410  acts as a housekeeping and control program and can perform initiation of peripherals, etc., and execute various operations shown, such as TIME, TEMPERATURE, COLOR, COMPASS, DISTANCE, etc. Peripheral devices, such as a temperature sensor, light sensor, color sensor, distance sensor, 3-D magnetomer, 3-D accelerometer, finger gesture user input unit or pads, etc., forward their readings/information to the main program  410  for processing temperature readings, calculating hue for color indication, calculating distance, determining the pitch, roll and/or compass headings, informing the user of information audibly, playing music, typing, etc. 
         [0054]    In one mode of operation, the information forwarded to the main program  410  can be converted into text format and then passed to an audio processing library (not shown). The audio processing library can act as a voice dictionary matching text with a specific audio voice in the voice library. A part of memory may be reserved for the voice audio library to store several hundred or thousands of pre-recorded voices. In another aspect, the audio processing can act as a text-to-speech engine which is a voice synthesizer to generate voice without the need of a pre-recorded voice library. 
         [0055]    As another example of different modes of operation, in notes record mode, for example, the main program  410  can convert input Braille code notes into text and store it in memory. As another example, in notes playback mode, the main program  410  executes a process of converting note text in memory into note voice output to the audio filter and amplifier. 
         [0056]    It should be appreciated that various operations can be removed or added without affecting the general functionality of the exemplary implementation. For example, it may not be necessary to filter or amplify audio signals. Conversely, additional operations can be added, for example language translation operations referencing a dictionary/translation file. 
         [0057]    An exemplary commercial embodiment encapsulates the discussed features in a singular small, portable personal digital assistant tool. For example,  FIG. 5  depicts an exemplary commercial embodiment  500  comprising an optical distance sensor  515  and a multifunctional color/light/temperature sensor  545  at an end of the device. The microphone  513  may be strategically located at one of the sides of the device, for example, near the top, for optimal recording conditions. The power/battery charging switch  507  may be located on another side or end of the device and an audio output plug  539  (i.e. for headphones) can also be located on one side of the device. For convenience to the user, all of the tactile responsive features may be located on one face of the device. For example, a Braille touch keypad  512  may be positioned near the finger message area  508  providing user ‘finger readable’ information from the obstacle finger message area  518  and compass finger message area  528 . The speaker  519  may be positioned on the same face, or an alternate face, as the finger message area  508  or Braille touch keypad  512 . Other locations, positions or arrangements about the device may be contemplated according to design preference. For example, an external port such as a USB port  520  may be configured. 
         [0058]      FIG. 6  depicts another exemplary commercial embodiment  600  comprising an optical distance sensor  615  and a multifunctional color/light/temperature sensor  645 . Also, the microphone  613  may be strategically located at one of the sides of the device, near the top, for example. The power/battery charging switch  607  may be located on one side or end of the device and an audio output plug  639  (i.e. for headphones) can also be located on one side of the device. For convenience to the user, all of the tactile responsive features may be located on one face of the device. For example, the Braille finger gesture pad  612  comprising the Braille touch pad  610  and touch gesture pad  611  may be positioned at a face of the device. The face may also contain an obstacle finger message area  618  for relaying information to the user from the internal obstacle tactile unit (not shown) and compass finger message area  628  for relaying information to the user from the internal compass tactile unit (not shown). The speaker  619  may be positioned on the same face, or an alternate face of the device. Other locations, positions or arrangements about the device may be contemplated according to design preference. For example, an external port such as a USB port  620  may be configured. 
         [0059]    While  FIGS. 5 and 6  depict exemplary commercial embodiments having a rectangular housing, it should be recognized that many other and varied housing shapes are contemplated. For example, a commercial embodiment could be configured in a cylindrical or contoured housing, to more ergonomically conform to the user&#39;s hand. As an alternative, the commercial embodiment could comprise a housing having non-uniform width, for example similar to three-dimensional oval, hourglass or pyramidal shapes. Similarly the location and arrangement of certain features may be varied without impact to the system performance. 
         [0060]    User Text/Command Entry 
         [0061]    As discussed above, the Braille alphabet comprises varying binary combinations of six dots in two columns and three rows.  FIG. 7A  illustrates the English Braille alphabet in six dot cell format.  FIG. 7B  illustrates the English Braille alphabet in a two by three cell format. The positions of each cell are universally numbered 1 to 3, from top to bottom, on the left, and 4 to 6, from top to bottom, on the right.  FIG. 7B  is instructive in showing how any English Braille alphabet can be formed from a sequence (col. 1→col. 2) of the cells. 
         [0062]      FIG. 8  depicts an exemplary finger gesture configuration, the “Braille M-Touch keyboard”  812 . The Braille M-Touch keyboard  812  comprises four pads  814 ,  825 ,  836  and  810 , which can correspond to the index, middle and ring fingers and thumb of the user, respectively. The 1, 2 and 3 positions in the left column of the six-dot Braille cell correspond to the three pads  814 ,  825  and  836  laid in horizontal row form. The three pads  814 ,  825  and  836  also correspond to the 4, 5 and 6 positions in the right column of the six-dot Braille cell. Pad  810  is used by the user to indicate a null entry. This compact four pad entry method condenses the movements and pads necessary for six-key input methods, but is still similar enough to likely be familiar to many Braille users; thus the M-touch keypad  812  may be readily used by many Braille users. 
         [0063]      FIGS. 9A-9C  depict time sequenced English Braille input of the alphabet letters a-c, respectively, using an exemplary Braille M-Touch keyboard, in which the user taps multiple times to input or type letters. Referring back to  FIG. 8 , the user&#39;s index, middle and ring fingers, on pads  814 ,  825  and  836  respectively, can be used in a first tap to signify of the 2 and 3 positions in the left column of the six-dot Braille cell. In a second tap, the user&#39;s index, middle and ring fingers, on pads  814 ,  825  and  836 , respectively, correspond to the 4, 5 and 6 positions in the right column of the six-dot Braille cell. If no positions are used in a column, the first ‘subscripted,’ or thumb, pad  810  may be used to indicate a null entry value. 
         [0064]    For example, with reference to  FIG. 9A , the alphabet letter “a” is represented in Braille by a dot in position  1  (left column), with the other positions (rest of left column and right column) empty. Accordingly, only pad  914  needs to be pressed in tap  1 , by the user&#39;s index finger. For tap  2 , the user only needs to press pad  910  with his/her thumb, to indicate that positions  4 - 6  are empty. Similarly,  FIG. 9B  shows that the user presses pads  914  and  925  with index and middle fingers in tap  1 , and pad  910  with thumb in tap  2 , to enter the alphabet letter “b.”  FIG. 9C  shows how a user would input alphabet letter “c,” by tapping his/her index finger on pad  914  as a first tap ( 1 ), and tapping his/her index finger again on pad  914  for tap  2 . 
         [0065]      FIG. 10  depicts another exemplary finger gesture configuration, Braille finger gesture pad  1012 , employed for user entry of Braille characters. As discussed above, English Braille employs binary combinations of six dot positions corresponding to the 26 letters of the alphabet, punctuation, and some double letter signs and word signs directly, but capitalization and numbers are dealt with by using a prefix symbol. This requires additional sequential entry to convey the correct letter or word sign and often leads to confusion among inexperienced users or may lead to technical issues or lost characters with entry in too quick a succession. Thus in this embodiment, two touch pads are used in combination for faster and clearer character entry. The first “Braille touch pad”  1010  may be enclosed within a tactile border  1051  and contains six tactile dots  1052  in two columns of three dots each. Thus, the Braille touch pad  1010  corresponds in larger part to the traditional Braille entry mode. The second “touch gesture pad”  1011  comprises a tactile border  1061  enclosing four tactile dots  1062  placed in each corner of a diamond and a fifth tactile dot  1062  in the center of the diamond. Entry in the Braille touch pad may largely be focused on one of the six circular areas surrounding the six tactile dots  1052 . Similarly, entry in the touch gesture pad may be primarily sensitive around the five tactile dots  1062 ; however, the entire enclosed tactile area may be employed in touch gesture. 
         [0066]      FIG. 11  depicts the relative touch sensor  1153 ,  1163 , placement corresponding to the tactile dot  1052 ,  1062  placement of  FIG. 10 . The pads are easily activated and entries made with the pressure produced by, for example, an index finger  1101 . 
         [0067]      FIGS. 12A-C  depict English Braille input of the alphabet letters a-c, respectively, using the exemplary Braille finger gesture pad of  FIGS. 10 and 11 . The mode of entry based on the exemplary Braille touch pad is very intuitive and based upon the English Braille system. The same representations are used for each letter/character. However, instead of separate sequential or simultaneous pressing/punching of one or a plurality of six positions arranged in a two by three cellular array, the user can connect any plurality of position touches by dragging or trailing the finger on the Braille touch pad. This continuous tactile entry provides increased speed and accuracy in Braille entry, as the user does not have to lift his finger and is not likely to misplace or mis-enter a character, due to the raised tactile dots and continuous tactile sensation. The touch gesture pad may be used to signify termination or request entry of a character into the device memory. 
         [0068]    Thus, as shown in  FIG. 12A , for gesture character A, the user would first touch the top left corner of the Braille touch pad, and secondly touch anywhere on the gesture touch pad to terminate the character. Thus, as shown in  FIG. 12B , for gesture character B, the user would first touch the top left corner of the Braille touch pad and drag the finger halfway down the touch pad to contact the second tactile dot of the same column, and secondly touch anywhere on the gesture touch pad to terminate the character. Thus, as shown in  FIG. 12C , for gesture character C, the user would first touch the top left corner of the Braille touch pad and drag the finger across the Braille touch pad to contact the second tactile dot of the same row, and secondly touch anywhere on the gesture touch pad to terminate the character. 
         [0069]    The Braille finger gesture pad can be used to convey an easily learnable collection of special characters and other key commands. For example, by using a series of touches and/or motions  FIGS. 13A-13F  depict English Braille input of directional keyboard commands, using one possible set of actions.  FIGS. 14A-14F  depict English Braille input of page access keyboard commands, using another possible set of actions.  FIGS. 15A-15F  depict English Braille input of special keyboard commands, using yet another possible set of actions. And  FIGS. 16A-16F  depict English Braille input of insertion/edit keyboard commands, using a different possible set of actions. 
         [0070]    Through the use of the exemplary Braille finger gesture pad, the user may input text, characters, letters, numbers to create or edit notes, documents and other textual files. The exemplary Braille finger gesture pad may also be used to control or access features or feature menus of the device. The exemplary Braille finger gesture pad may be further programmable, so that the user may personalize commands and entry combinations that allow for shortcut or ‘home key’ features to be enabled for easier access to device features and capabilities. Such and other modifications to arrive at the desired command or “stroke” and variations thereof using the exemplary Braille finger gesture pad are contemplated. 
         [0071]    Assistive Features 
         [0072]      FIG. 17  illustrates various possible Personal Digital Assistant (PDA) features using an exemplary embodiment. Thus, entry of Braille based characters may be used to input and access many Personal Digital Assistant (PDA) features. For example, the user may access time information and alarm functions, obtain temperature and weather information, retrieve and input calendar and scheduling information, access and edit music and text or other word processing files. While some of these features may employ components shared with other assistive features, many configurations are contemplated, including voice command and voice recording. 
         [0073]    In an alternative embodiment, as shown in  FIG. 18 , the device may contain a 3-D magnetic sensor  1851  and/or a 3-D acceleration sensor  1852  connected to the processor or microcontroller  310 . The 3-D magnetic sensor  1851  and/or a 3-D acceleration sensor  1852  may be used in a variety of assistive functions to enable greater independence for the VH. 
         [0074]      FIG. 19  depicts a flow chart  1900  showing one of several possible approaches for pitch, roll and yaw angle determination and output. Upon an initialization, the path/direction of the user may be ‘registered.’ The exemplary path/direction determination process  1900  contains a read data process  1905 , wherein data from a 3-D sensor (e.g. magnetic or acceleration sensor) is read in. Next, the exemplary process  1900  determines or calculates the sensor(s)&#39; local coordinate system  1910 . Continuing, the exemplary process  1900  then calculates orientation angles  1915 . Based on these inputs and calculations, information such as pitch, roll, yaw, and so forth may be derived for use by the VH.  FIG. 20  depicts an example of calculations that can be used to determine pitch, roll and yaw angles from sensor data.  FIG. 21  depicts another example of calculations that can be used to determine pitch, roll and yaw angles from sensor data. As should be apparent, other approaches may be used according to design preference. 
         [0075]      FIG. 22  depicts an exemplary device measurement function in one of several modes of operation. The optical distance sensor  2205 , in conjunction with the internal 3-D magnetic sensor  2210  and 3-D acceleration sensor  2215  return the distance value to the user; the user may use this information for assistive walking, ascending or descending a slope or other measurement needs. 
         [0076]    An additional feature of the exemplary device may comprise a color sensing feature.  FIG. 23  illustrates an exemplary embodiment with a color sensor  2345  and light generating components (shown here as an LED component) of a color sensing unit  2300 , for transmitting color data to a microcontroller/processor  2310 . In this embodiment, a color sensor  2345  and white LED  2335  are configured nearby and aimed at a color sample  2305 . The user accesses the color sensing feature and thereby activates the microcontroller to signal the LED driver  2334  to power the white LED  2335  and emit white light  2301  towards the top of a dark chamber  2325  covering the color sensor  2345  and white LED  2335 . The dark chamber  2325  enables reflection of appropriate light  2311  to be read by the color sensor  2345 ; the resulting color sensor data is relayed to the microcontroller and processed for reporting to the user. The color may be reported to the user via spoken or symbolic audio means. As should be apparent, the embodiment shown in  FIG. 23  is one of several possible ways to detect color and, therefore, other methods or approaches may be used. 
         [0077]    The exemplary device color sensing function would be designed to assist a VH in regaining one aspect of their reduced sight. This color sensor feature would enable a user to readily identify for example, the color of produce that are not distinguishable except by color. For example, a user could use the color sensor feature to distinguish between green Granny Smith and red Fuji apples, or to distinguish between red and green grapes, or between lemons and limes. 
         [0078]      FIG. 24  depicts an obstacle recognition algorithm for aid in walking. A beam, for example, infrared (IR) beam, can be activated at the top of the device, and directed towards the floor when the device is aimed to the floor, thereby acting as a “virtual walking stick.” The distance the beam travels before encountering a solid object (D-meas) is obtained. This D-meas value is compared against calculations made based on the pitch angle data and height of the device. The pitch angle data is relayed from an accelerometer sensor to the microcontroller/processor, while the height (H) may be pre-determined or calibrated (i.e., the user can be trained to hold the device at a certain height relative to their person and the corresponding value pre-programmed or entered into the device), or may vary from use to use (i.e., the user raises or lowers the device until a pre-set or entered height from the floor is reached as recognized by a establishing instance of the beam from the device held in a position perpendicular to the ground). The resulting collected values are computed to calculate D-cal as H divided by the sin of the pitch angle (90-pitch angle). A comparator function then compares D-cal against D-meas. If the values are equal, then the floor or path is level. If D-meas is less than D-cal, a raised obstacle (i.e. a block or hill) is detected. If D-meas is greater than D-cal, a lowered obstacle (i.e. a downward slope, descending step or pothole) is in the user&#39;s path. 
         [0079]      FIG. 25  shows an exemplary compass/obstacle finger message module  2500 . In one possible embodiment, a first servo motor  2501  (may be an RC servo motor, as shown) may be connected to drive a compass disk  2505  on which a finger tactile node  2506  corresponds to the arrow tip for due north on a traditional compass. The compass disk  2505  can rotate in positive or minus 180 degrees. Thus a user can receive from the finger tactile node  2506 , an indication of the north direction, and understand the heading. A mechanical or other digital solution (shown here as a mechanical gear  2502 , although digital computational solutions are also contemplated) may be employed to equate positive and negative angle calculated values to correlate to a traditional compass, i.e. +/−90 degrees to +/−180 degrees. A second servo motor  2503  connects to drive an up/down actuator signal button  2509 . The up/down actuator signal button  2509  can be another tactile sensory indicator to the user of position. The position of the actuator may be a binary type value only (i.e. raised, lowered, or level with the device face) or a relational value whereby the position of the actuator suggests a relative elevation of an encountered obstacle. 
         [0080]    Also, the feedback data of this calculation may be relayed to the user audibly, or via the exemplary compass/obstacle finger message module  2500 . The movements of the exemplary message module  2500  are straightforwardly translatable to the obstacle or block in the user&#39;s path. For example, if a block is encountered, as depicted in  FIG. 26 , the obstacle actuator  2609  will rise from the rest or reset position (flush with the face of the device). The compass indicator disk  2605  (a raised or protruding tactile indicator) may also rotate to point the finger tactile node  2606  to North to show that the raised obstacle is directly in the user&#39;s path. Similar rising of the actuator will occur when a block or obstacle is encountered. 
         [0081]    Alternatively, if a descending step or hole is encountered, the obstacle actuator will lower from the rest or reset position (flush with the face of the device).  FIG. 27  depicts the walking aid function in use (recognition of a step or hole) wherein the obstacle actuator  2709  is lowered relative to the other features of the exemplary compass/obstacle finger message module  2700 ; the compass indicator disk  2705  (a raised or protruding tactile indicator) may also rotate to point the finger tactile node  2706  to North to show that the step or hole is directly in the user&#39;s path. 
         [0082]    The obstacle recognition feature may also be used when the exemplary device is parallel to the floor, to detect obstacles directly in front of the user. In this application, seen for example in  FIG. 28 , the reset or rest position of the obstacle actuator  2809 , flush with the face of the exemplary compass/obstacle finger message module  2800 , corresponds to free space in front of the user. In this example, the compass indicator disk  2805  (a raised or protruding tactile indicator) may also rotate to point the finger tactile node  2806  to North to show that the free space is due North of/in the user&#39;s path. If a door is detected, the obstacle actuator  2809  will rise from the rest or reset position. For example, if the user pivots the direction of the beam, perhaps to check the width of the opening space, and a surface (i.e. wall or door) is encountered, the obstacle actuator  2809  would rise from the rest or rest position, and the compass indicator disk  2805  (a raised or protruding tactile indicator) may also rotate to point the finger tactile node  2806  to North to show that the wall or door obstacle is in a direction Northeast of/in the user&#39;s path. 
         [0083]      FIG. 29  shows a block diagram of an exemplary embodiment  2900  comprising a processor  2910  (for example, microcontroller Microchip® PIC32) that may receive user input via a finger gesture input unit  2912  (for example, Braille M-touch keypad on a Microchip® PIC16), a microphone  2913  for audio input, and further data input from sensor unit(s) including one or more unit(s) selected from distance sensor  2915  (for example, Sharp® GP2Y0A02YK), temperature sensor  2925  (for example, Microchip® TC1046), light sensor  2935  (for example, Avago APDS-9003), color sensor  2945  (for example, TAOS TCS230), and separate or combined motion sensor and navigation sensor  2955  (for example, combined 3-D accelerometer and 3-D magnetomer, e.g. Aichi Micro Intelligent Corp. AICHI-MI A602). A white LED light source  2943  and LED driver  2944  (for example, NPN configuration) may be connected to the color sensor  2945 . The designation of finger gesture user input unit  2912  as input is arbitrary as the finger gesture user input unit  2912  may both transmit data to and receive data from the microcontroller  2910 . Singular output components such as finger tactile actuator unit  2918  (for example, finger message obstacle), finger tactile compass actuator unit  2928  (for example, finger message compass), speaker(s)  2919 , and headphone  2939  are connected directly or indirectly to microcontroller  2910 . It is noted that although singular input components  2912 ,  2913 ,  2915 ,  2925 ,  2935 ,  2945  and  2955  and singular output components  2918 ,  2928 ,  2919  and  2939  are shown, each of these components can employ more than one input or output unit on the system  2900 , where such additional components can also be adapted for data input or output described herein. 
         [0084]    The microcontroller  2910  can be powered by external power or a rechargeable battery (not shown), controlled by a battery charge controller  2905  (for example, Li-Ion battery charge controller Linear T4052-4.2). The microcontroller  2910  processes the data input and stores the data using inherent internal memory (not shown) or external memory  2903  (for example flash memory, e.g. SanDisk memory card) (performing read/write operations) and may output the data via user feedback unit(s) finger tactile obstacle actuator unit  2918 , a finger tactile compass actuator unit  2928 , and more conventional audio output in the form of a headphone  2939  or speaker(s)  2919  and so forth. For audio clarity, as shown, the audio signals from the microphone  2913  may be processed by a microphone amplifier and filter  2923  before being input to the microcontroller  2910 . Conversely, the audio output signals may be passed through a low pass filter and audio amplifier  2929  to increase output clarity before being output through the headphones  2939  and/or speaker(s)  2919 . The exemplary embodiment  2900  may be connected to a computer  2903  for testing, troubleshooting, software update, file uploading/downloading, etc. 
         [0085]      FIG. 30  shows a block diagram of another exemplary embodiment  3000  similar to that of the exemplary embodiment of  FIG. 29 , wherein the processor  2910  may receive user input via a finger gesture input unit  3012  (for example, Braille finger gesture pad on a Microchip® PIC16). 
         [0086]    What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Of course, those skilled in the art will recognize many modifications may be made to this configuration without departing from the scope or spirit of what is described herein. It will be understood that many additional changes in the details, materials, steps and arrangement of parts, which have been herein described and illustrated to explain the nature of the subject matter, may be made by those skilled in the art within the principle and scope of the disclosure as expressed in the appended claims. Accordingly, the described embodiments are intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term “includes” is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim.