I am unsure if it will be useful to you, but on our Android device, there's a setting where even the top bar cannot be pulled down by the user. For us it was perfect in addition to Kiosk Mode. With the service running, you'd have to know exacly where to look for in order to allow access...
Settings -> Display -> Display Navigation
If you HAVE to get out though, we plugged a keyboard and did a TAB to slowly get back to the settings and disable that setting...
I also made the service shut down on password input...