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A cilice was originally an article of clothing worn with the purpose of causing discomfort for the wearer. Historically, they were called hairshirts that were worn close to the skin by religious individuals to demonstrate repentance or atonement. Now, it can refer to any garment worn with the effect of discomfort.
While these types of garments were typically used for religious and personal purposes, they might be used in BDSM relationships. The garment, whether it is a belt, shirt, or choker, can be worn by a submissive as a symbol of atonement. Traditionally, the garment causes discomfort, not pain, but in modern use, it might cause pain to the wearer.