This paper describes the design and evaluation of an innovative smart mobility aid for the frail visually impaired. The Personal Adaptive Mobility AID (PAM-AID) was developed to address the difficulties in personal mobility of the frail and elderly visually impaired. The paper provides an overview of the PAM-AID research at Trinity College and describes the evolutionary nature of the design process. Because there were no existing systems to guide its development, a series of proto-types was constructed and they were regularly evaluated in the field. This approach views potential users as vital contributing members of the design team and led to rapid and hopefully useful improvements in the design.