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. 2017 Oct 11;14:102. doi: 10.1186/s12984-017-0313-3

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© The Author(s). 2017

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 1 — Wearable system hardware. Eight distributed nodes (Dots) simultaneously send and receive data to and from the central control unit (Hub) where real-time computation and control algorithms are performed. Dots are configured in custom software to act as sensing Dot, feedback Dot, or both. Each Dot is comprised of a 9-axis inertial measurement magnetometer unit (IMMU) sensor, vibrotactile feedback motor, ZigBee wireless communication module, and a 100 mAh lithium ion battery. All Dot components are embedded in a single silicon mold. Each Dot weighs about 12 g and the overall top surface area is roughly the same as a 25 mm coin