A blind aid device designed for non-verbal communication between a blind person and a companion includes a body-worn sensor system to be worn by the companion, a body-worn actuation system to be worn by the blind person and a wireless communication link between the body-worn sensor system and the wearable body-worn actuation system. The body-worn sensor system includes a gyroscope configured to detect and record a velocity of tilting and turning head movements of the companion, an accelerometer configured to detect and record an extent of the tilting head movements of the companion, and a magnetic compass sensor configured to detect and record an extent of the turning head movement of the companion. The wearable body-worn actuation system includes an array of control electronics and actuators configured to translate electronic signals transmitted from the body-worn sensor system into physical movements, in real time.