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Section 4: Robotics Aids for the Disabled
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  Similar to NavChair approach, UM developed "NavBelt" for the blind.
  Uses UM's obstacle avoidance:
  instead of issuing steering signals to the robot controller, NavBelt generates acoustic cues conveyed to the user via headphones.
  NavBelt's limitations:
  Required hundreds of hours of training before users could respond to the acoustic cues in time, even at slow walking speeds.
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