...it is not enough to be free
of the whips, principalities and powers

Freedom and slavery are mental states.

To be given dominion over another is a hard thing; to wrest dominion over another is a wrong thing; to give dominion of yourself to another is a wicked thing.

Those who deny freedom to others deserve it not for themselves, and, under a just God cannot retain it.

How can one be compelled to accept slavery? I simply refuse to do the master's bidding. He may torture me, break my bones to atoms and even kill me. He will then have my dead body, not my obedience. Ultimately, therefore, it is I who am the victor and not he, for he has failed in getting me to do what he wanted done.

The idea is to give back some of the freedom and independence that the blind have lost, like being able to cross the street and eventually maybe read a newspaper with large print. Our first goal is to make daily life easier, to detect edges and motion.