A method comprising the steps of: assigning , by one or more processors, at least a first location of at least one embedded device , the embedded device comprising at least one sensor and being associated with at least one joint capable of movement, the first location being captured by the at least one sensor; assigning , by the one or more processors, at least a second location of the at least one embedded device , the second location being captured by observation of the at least one embedded device by at least one external sensor , wherein the at least one external sensor tracks motion of the at least one joint with respect to external reference, wherein the at least one external sensor is a Red Green Blue - Depth (RGB-D) sensor; establishing , by the one or more processors, a pose correspondence between the at least first location and the at least second location and between the first location and the location of the at least one joint using a model of the at least one joint; upon establishing the pose correspondence determining calibration information , by the one or more processors, for the at least one sensor of the at least one embedded device by tracking a change in a pose captured by the at least one external sensor and a change in the pose captured by the at least one sensor of the at least one embedded device as the at least one joint moves; determining , by the one or more processors, the second location using the calibration information, the first location and the model of the at least one joint to track the positions of the at least one embedded device over time when the at least one sensor is not observed by the at least one external sensor , thereby tracking a plurality of first locations, a plurality of second locations, a plurality of joint poses, and metrics; and providing , by the one or more processors, a feedback to a user at least in part based on the tracking as the at least one joint moves by activating an actuator of the at least one embedded device . assigning , by one or more processors, at least a first location of at least one embedded device , the embedded device comprising at least one sensor and being associated with at least one joint capable of movement, the first location being captured by the at least one sensor; assigning , by the one or more processors, at least a second location of the at least one embedded device , the second location being captured by observation of the at least one embedded device by at least one external sensor , wherein the at least one external sensor tracks motion of the at least one joint with respect to external reference, wherein the at least one external sensor is a Red Green Blue - Depth (RGB-D) sensor; establishing , by the one or more processors, a pose correspondence between the at least first location and the at least second location and between the first location and the location of the at least one joint using a model of the at least one joint; upon establishing the pose correspondence determining calibration information , by the one or more processors, for the at least one sensor of the at least one embedded device by tracking a change in a pose captured by the at least one external sensor and a change in the pose captured by the at least one sensor of the at least one embedded device as the at least one joint moves; determining , by the one or more processors, the second location using the calibration information, the first location and the model of the at least one joint to track the positions of the at least one embedded device over time when the at least one sensor is not observed by the at least one external sensor , thereby tracking a plurality of first locations, a plurality of second locations, a plurality of joint poses, and metrics; and providing , by the one or more processors, a feedback to a user at least in part based on the tracking as the at least one joint moves by activating an actuator of the at least one embedded device . <EOS>