This chapter provides a useful classification of Mobility Assistive Devices (MAD) for Visually Impaired People (VIP). Its goal is to identify the scientific framework for the design of new MADs supporting VIPs enhancement of spatial cognition. Starting from past and already existing classifications, analysed via criterion of VIP interactions with the space via mobility, a new classification of MADs is proposed. It is based on recent progresses in neuroscience (perception-action loop) and digital technology, and it adapted to new requirements of an inclusive society. Such approach presents a promising mean for our understanding the human mobility in general, and especially in the case of impaired vision, and provides elements for the necessary and smart collaboration between human, machine, and environment. The presented classification may be useful to robotic community and to any person interested by assistance of VIPs mobility.