Yasuyuki Murai Hisayuki Tatsumi Masahiro Miyakawa A Haptic Walk-Guide simulator for the visually impaired - A prototype -. 3731-3736 2007 SMC http://dx.doi.org/10.1109/ICSMC.2007.4414120 conf/smc/2007 db/conf/smc/smc2007.html#MuraiTM07