A Novel Real-Time Error Compensation Methodology for ?IMU-based Digital Writing Instrument. - Chi Chiu Tsang; Gary Chun Tak Chow; Philip Heng Wai Leong; Guanglie Zhang; Yilun Luo; Zhuxin Dong; Guangyi Shi; Sze Yin Kwok; Heidi Y. Y. Wong; Wen Jung Li; Ming Yiu Wong (ROBIO, 2006)