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We explore Calico, a miniature relocatable wearable system with fast andprecise locomotion for on-body interaction, actuation and sensing. Calicoconsists of a two-wheel robot and an on-cloth track mechanism or "railway," onwhich the robot travels. The robot is self-contained, small in size, and hasadditional sensor expansion options. The track system allows the robot to movealong the user's body and reach any predetermined location. It also includesrotational switches to enable complex routing options when diverging tracks arepresented. We report the design and implementation of Calico with a series oftechnical evaluations for system performance. We then present a few applicationscenarios, and user studies to understand the potential of Calico as a dancetrainer and also explore the qualitative perception of our scenarios to informfuture research in this space.

Calico: Relocatable On-cloth Wearables with Fast, Reliable, and Precise Locomotion