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A MAG-muIMU which is based on MEMS gyroscopes, accelerometers, and magnetometers is developed for real-time estimation of human hand motions. Appropriate filtering, transformation and sensor fusion techniques are combined in the ubiquitous digital writing instrument to record handwriting on any surface. In this paper, we discuss the design of an extended Kalman filter based on MAG-muIMU (micro inertial...
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