29. The method of claim 28 , wherein a first set of markers is coupled to a first appendage, the first set of markers forming a first pattern common to a plurality of components of the first appendage and a second pattern unique to each of the components of the first appendage.
28. The method of claim 25 , wherein the detecting includes detecting position of a plurality of appendages of the body using a set of markers coupled to each of the appendages.