Yes, and I used a Basic Stamp, and replaced it with a PIC chip later on. I had several normal issues: ignoring very close objects like your arms swinging when you walk; short postives; timing issues with getting the whole array working, since I was trying to triple use piezo transducers as emitter/receiver/vibrator. Other than those issues, it was not too refined due to the limitations of the transducers, speed of the 8-bit chips I was using, and you had to wear it within proximity of your body, but then not cover it up.
Before I ditched the idea, I was going to put the vibrator belt as a second belt worn under the clothing, but there was no Bluetooth or WiFi or easily accessible way of going wireless between the belts in a practical fashion.
I had my neighbor, blind man who had a guide dog, trial it. He was a great guy, and helped me quite a bit to 'see' past my vision biases. Unfortunately, he passed away. He used to work for the IRS, and we would joke about me getting my deductions past him! He did like what I had accomplished, but many blind people do not have the money for something that is not subsidized, and then you get caught up in the compliance insurance issues. Not sure if that has changed much nowadays.
It was a great maker project before the 'maker' movement. Too bad there was no startup, or crowd-funding web sites back then!