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This paper presents a development history of a wearable, scalable vibrotactile stimulus delivery system. This history has followed a path from desktop-based, fully wired systems, through hybrid approaches consisting of a wireless connection from the host computer to a body-worn control box and wires to each tactor, to a completely wireless system employing Bluetooth technology to connect directly from the host to each individual tactor unit. Applications for such a system include deliveringdoi:10.1007/s10055-005-0010-6 fatcat:bmfq4x23xvdutcnnmpl47gpnwi