The Atlas of the United States Printed for the Use of the Blind, published in 1837 before Braille was widely used, used embossed printing of lines, words, and symbols to be finger-readable.
Without a drop of ink in the book, the text and maps in this extraordinary atlas were embossed heavy paper with letters, lines, and symbols. To the best of our knowledge, this is the first atlas produced for the blind to read without the assistance of a sighted person. Braille was invented by 1825, but was not widely used until later. It represented letters well, but could not represent shapes and cartographic features.