Abstract: A wearable sensor device to assist a vision-impaired animal in navigating its surroundings includes a harness to be worn by the animal, a plurality of proximity sensors coupled to the harness, and a plurality of output devices coupled to the harness. The proximity sensors and the output devices can overlay the shoulders, the sides, and the chest of the animal when the animal wears the device. The proximity sensors can face forward, to the sides of the animal, and horizontally. The device includes a control unit to receive signals from the sensors, process the signals, and transmit signals to the output devices.