How does SolitonReach determine the position of the hand?

In Soliton Reach, three Solitons are mounted on one arm (biceps, forearm and wrist) to provide 3D reach into virtual and augmented worlds.  

Since the arm is part of the human skeleton, the three Solitons mounted on the arm are constrained to move with the skeleton. This fact allows us to use the orientation information obtained from each Soliton in conjunction with forward kinematics algorithms to determine the exact position of the hand relative to the shoulder.