US Patent 9646514 Somatosensory feedback wearable object

Disclosed are systems, computer-readable mediums, and methods for receiving, from a sensor array, three-dimensional sensory data associated with an environment of a person. The three-dimensional sensory data is converted into a two-dimensional representation. An obstacle is located within the environment based upon the sensory data. The obstacle is mapped onto the two-dimensional representation and the two-dimensional representation is mapped onto a plurality of actuators within a vibrotactile interface. One or more of a plurality of actuators are controlled based upon the mapping of the two-dimensional representation onto the plurality of actuators to provide tactile input to the person that represents a location of the obstacle.