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The answer may depend on the country, the context, and the type of device involved. However, in general, implanting a tracking device (or any device) in someone's body without their consent would be considered a violation of their human rights and a form of assault or battery. 
According to a proposal by researchers at the University of Basel and the University of Zurich, one of the new human rights that should protect people from such abuses is the right to mental integrity. This right would prevent any unauthorized interference with a person's brain activity, such as implanting a device that could monitor, manipulate, or harm their mental processes.
In the UK, the Medical Devices Regulations 2002 (UK MDR 2002) define a medical device as any instrument, apparatus, appliance, software including AI, material or other article that is intended to be used for human beings for various medical purposes. A medical device must comply with the legal requirements and obtain a UKCA mark before it can be placed on the Great Britain market. Therefore, implanting a device that is not approved or certified as a medical device would be illegal and potentially dangerous.
Furthermore, the UK MDR 2002 also state that a medical device must be accompanied by information that is essential to enable the device to be used safely and properly, including instructions for use, warnings, precautions, and information on any adverse incidents or risks. This implies that the user of the device must be fully informed and consent to its use, otherwise it would be a breach of the regulation and a violation of the user's right to information and autonomy. Shouldn't be used to control how we feel.
Therefore, based on these sources, it seems that implanting a tracking device in someone's body without their consent is not legal in most cases, and could have serious legal and ethical consequences. I hope this answer helps understand the issue better. 🙏
: New human rights to protect against 'mind hacking' and brain data theft proposed | Neuroscience | The Guardian
: Medical devices: how to comply with the legal requirements in Great Britain - GOV.UK.
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