CA2182627A1 - Improved information input apparatus - Google Patents

Abstract

Information input apparatus including body supported apparatus for sensing voluntary body motions and providing an output indication thereof, a symbol output interpreter operative to utilize the output indication for providing symbol outputs, and a motion output interpreter operative to utilize the output indication for providing motion control outputs.

Description

FROr1:Lf~DRS PfURY '~16~ TO: 613 230 8E~21 ~UG 1. 1996 6:05PI'1 #317 P.05 -- ~18~627 .
WO95~1436 r~ s~ s3 IMP~VED I~)XM~TIO~ IN~VT ~PP~RATUS

~IELD OF THE INVE~TION ' The present invention relates to input device~
fas computer~ generally.

BACXGROUND O~ THE lNV~ ION

U.S. Paten~ 4,787,051 to-OlSon describes an inertial mouse sy~tem which u6es three pair~ of a~cele~-ometers.
U.S. Patent 4,839,836 to LaBiche et~ al. de-scribe~ an appa~atu6 for ~roviding spatial orlentation data ~lgnal~, U6~ ng an inertlal plat~orm acceleromPter : cluster having a plurallty of aece~erometErs.
U.S. Patent 5,181,181 to Glynn descrlbe~ a computer apparatus ~nput devlce ~or three-dimensional lnfor~ation.

SUBSTlrUT~ SHEET (RUIE26) L~S P~RRY 2l~9~ To: 613 230 8~21 RUG 1. 1996 6:05P~ #317 P.06 ~18~627 --wo ssnl436 PCrrU$9!!i/0148 `

SUMMARY OF T~E I~V~:;N~10~ -The present invention seek~: to provide ~n improved input device.
~ here ls thus provided in acco~ance ~lth a preferred embod~ment of the pre~ent invention informatl~n input apparatus includlng body ~upported ~pparatu~ f~r sens~ng voluntary body mot~ons and provlding an outp-t indicatlon thereof, a ~ymbol outp~t lnt~rpreter operative to utilize the output indication fo~ providlng sym~ol ~utputs, and a motion output interpreter ope~ati~e ~o utili~e ~he output indication ~or p~ovlding mot~on c~n-t~ol outputs.
Purther in accordance w~th a prsferred r~ho~,i-ment of the pre~ent invention, the outp~t indicat o~
represents feature~ of body motlon in¢l~di~ featu.e~
w~lch are character$stlc of the individ~al~
S~ill further in accordance ~lth a pseferredemhofl~ent of the present lnventlon, a mode ~elector ~
provided whi~h is operatlve to cause a selected one of the 8ymbol outp~t interp~eter and ~e ~otion outp~t interpre~er to functlon. .
~ urther in ~ccordance w~th a preferred émbodi-ment of the present invention, the body suppo~ted app~sa-tus is a han~ held device Still further ln accordance wlth a prefe-red embodiment o$ the pre~ent lnventlon, the bod~ suppo~ted apparatus is a generally pen-shaped device, Additionally in accordance wlth a preferred e~bo~t~ent of the prese~t invention, the gene~ally pen-shaped devlce is ope~ative to provide a vislble writing ~unction.
Still further in accordAncc ~lth a pref~rred embodl~ent of the present invention, t~e informdtion lnput apparatus also includes a~ ob~ect ~hose motlol ls Cl IR.~TITI IT~ FFr IRUI E 2~

FRln:LRD~S P~lRRY 246E19Sg TC~: 613 230 8~21 QUG 1. 1996 6:06PM #317 P.07 WO 95121~3~ }'Cl`~lS951011 83 cont~olled by the motion control outputs.
~ urther in accordance wlth a preferred e-~s~
ment of the present l~ventlon, the obj~ct is a grap~ic object d~splayed on a di~play or a physlcal objeet.
Yurther in acco~dan~e with a preferred emb~di-ment of the ~e~ent invention, t~e symbol outputs repFe-sent alp~anumerlc 8ymbols or a ~ensor~ quallty such as a~
acou~tlc st~mulus, including b~t not limlted to music, or such as a vlsual ~tlm~lus, including but not llmited to a colo~ or a colo~ ~may~.
It is appreclated that ths applicability of the p~esent ~nvention is very broad and is suitable for tbe follo~ing field~ of use, inter alia: games such as v_deo game~, toys, ~o~el veh~cles, robotics, simulation~ -uch as flight slmulations, technical drawings and CAD.
Still further in accordance with a prefeirred embDdiment of the present ~nvention, the in~orm~,tion input apparatu6 also includes a c:o~puter, hav~ng a loc~-tion input and a symbol input, and a di ~play oper~ted ~y the compute~ and wherein the symbol outputs ~epr~8ent information to be displayed on the d~splay and the motion outputs sre s~lpplied to the lo~at~on inpu'c and are em-ployed by t2~e ~omputer to govern the locatlon of the ~forma~lon on the ~splay.
Further ~n accordan~e ~ith ~ prefe~red e~odi-~ent of tbe pressnt lnvention, the sy~bol output~ lrclude unction commands.
There i~ al~o provl~ed, i~ accordance w~th a p~e~er~ed embodiment of the pre~ent invention, a ~ethoa by whi~h a manipulable de~lce prov~des an output i ~dica-tion representing its o~n angular motion, the nethod including recording actual accele~atlon data from a plural~ty of accelerometers mo~nted in the ~anipulable device, generating p~edicted acceleratlon dat~ cn the ~a6is of hypot~etical angul~r motion ~nfo~ma~lon, compar-ing the.predicted accele~atlon data to the a~tual a~cel-SUBSTITUTE~HEEl (RULE26) FROI~l:LflDRS Pf~RRY 24~:1J9 TO: 613 230 B~21 RUG 1- 1996 6:06P1~1 #317 P.08 - ~182627 WO95/2~436 ~ )/v~ 14 3 ~

eratlon d~ta, computing improved hypo~hetical angular mot~on inform~tion, repeating, whlle the pred~cted occel-eration data differs significantly from the actual accel-eration data, the generating, compa~lng and co~put~g step~, and providing an output ~dicatlon of the $mpro~ed hy~othetical angular ~otlon information.
~ rther ~n accordance with ~ preferred emboCi-ment of the present lnvention, the angular ~otlon in~or-mation ~ncludcs ang~lar displacement info~matlon, angu.ar veloclty informatlon and angular accelerat~on inforna-tion.
Still ~u~the~ in a~cordance wlth a preferred emho~i ~ent of the present in~en~ion, the met~od incl~des computlng linear mot~on information from the improved hypothetical angular motion in~orma~ion and from the ,. ~ actual acceleration da~a.
Addltionally in accordance ~it~ a preferred e~bodlment of the present invent~on, recording lncludes reeording from at lea~t four accelerometers mounted in the manipulable dev~ce, w~erein the accelerometers each have a cente~ of ~a~s and wherein the centers of masE, do not lle within a ~ingle plane.
Stlll fur~her in B~co~dance wlt~ a pref~rred e~odi~ent of the p~esent invention, the ~e~ho~ also includes receiving the output indication of the imp-oved hyp~thetical angula~ motion ~nformation and manlp~l~ting an ob~ect in accordance therew~th..
There is additlonally provided, in accordance with a pre~erred embod~ment of t~e present lnvention, an accelerometer array mounted in a manipula~le devic~ and ~ncluding at least four accelerometers each havtng a cen~er of ma~s, wherein the centers of mass do no~ e within a s~ngle plane, and a man~pulable de~ice ~otion compu~er recei~ing input from the ac~elerometer a~d genera~lng an o~tput slgnal ind~catlve of the motl~n o~
the manipulable devlce, ~:1 IR~TlTl 1~ SHEE1 (RULE 26) LRDRs PIY~RY ~CH9~ TO: 'i13 a30 131321 'lIIG 1. 1996 6:07P11 #317 P.09 ~182627 ~095~1436 r~

~ urther in accord~nce wlth a pre~erred embodi-men~ of the pre~ent ~nvention, the manipulable devl~e ~ot~on co~p~ter is ope~ative to:
record actual acceleratlon da~ from the accel-erometers, generate predicted acceleration data on the ~asis of ~ypothetical angular motlon lnformat~on, compare th~ predicted acceleration data to ,he act~:l acceleration ~ata, compute impro~ed hypothetical. angular mot~on informatlon, repeat, whlle the predlcted acceleration dlta dlffe~s slg~ificantly ~rom the actual a~celeratlon data, the generating, comparing and computing 8tep5, ~nd provide an output ~ndication of the ~mproved hypothe~ical angular motion lnformatlon.
~ urther in accordance ith a preferred embodi-m~nt of the present invention, ~he apparatus also inc'ud-lng an ob~ect rnanipulator receiving the output ~ nal lndlcative of tbe mo~ion of the manip~lable devlce ~nd manlpulating an obje~t $n a~cordance therewlth.
There is al~o prov~ded, ln accordance ~tl a prefesred embodiment of the pre6ent invention, an in~or-mation lnput method including sensing voluntary ~ody ~otlons and providing ~n output indication thereof, utili~ln~ the output ~ndication for providing symbol outputs, and utllizing the ou~put indication for provid-ing motlon cont~ol output~.

~1 In~ TF .~ t lRULE 26~

FRO1:L~DRS PPRRY 2~6ag5g TO: 613 230 ~821 RUG1- 1996 6:0'7PI`1 ~317 P.10 ~18~627 WO9~21~36 PCT/I~S9~014 3 ~~
, BRIEF DESCRIP~IO~ OP THE DRA~ S

T~e present invention wil~ be understood ~nd appre~lated from tbe following aetailea description, taken in con~unction wlth the drawln~s ln ~hich:
~ Fig. 1 ls a sl~pl~fled pi¢to~isl ill~strat_on of object control and handwriting recognltion appara-u~
con~tructe~ and operatlve in accordance with a prefer:ed embo~lment of ~he present invent~on;
~ igs. 2A and 2B a~e ~chem~tlc dra~gs of preferred struct~re~ of portionæ of the apparatu6 of Pig.
l;
Pig. 3 is a simplified block diagram of tne appa~atus o~ Pig. 1;
~ g 4 is a simplifie~ flow chart illustra lng the ob~e~t control proces~ performed by the appa atus of ~ig. l;
~ ig. 5A i6 a si~plified flow chart ill~strating the proce6s of step 4~0 o~ f~g~re 4;
~ ig. 5B compr~ses mathematlcal equations illus-trating the proce~s perfo~ed by Fig. 5A;
Pig. 6 i8 a simplified block diagram of the apparatu6 of ~lg. 1;
~ ig 7A i~ a simpllfied flo~ chart illustr-.tlng t~e teachlng proce~s performed ~ the apparatus of Flg.
l;
Pig. 7B i~ a simplified flow ~hart ~llustratlng the ~ecognition process performed by the apparat~s of F~g. 1; and Fig~. 8A ~nd 8~ are g~aphical illustratlons u~eful in understanding a preferred method for a portlon of the teaching and ~ecogn$tlon proce~es perfo~m-d by the apparatus of ~lg. 1.
Appendi~ A i~ a co~pute~ l~st~ng of a ~refer~ed software i~plementation of a portlon of steps 720 of ~$g.
7A and 800 of F~g. 79.
SUBSTITUT~ SHE~ (RULE 26) FR0~1:LRDF15 PPaRRY 2~ J~ TO- 61 - ---`-----~-----~
3 230 ~821 RUG 1. 1996 6:08P~ 317 P.ll ~o sSn~q36 I'CTJUS9~01~3 D~TAILED DESCRIPTION OP PRE~E~EP E~IBO~IME~TS .

Reference ~s now rnade to Pig. 1 which is a ~lmplif~ ed plctorial illustration of apparatus operative to perfo~ notion contsol ln synergl~lc combinat~on ~ith ~y~bol interpretation such a6 handwrlting recognitlon. A
hand-bel~ pen 10 is operative to be translated and rot~t-ed abou~ some or all of three ~erpendlcular axes. ~he term ~six degrees of freedo~" i~ ~sed hèrein to des~gnate translation along and rotation a~out three orthogo~al axes.
Pen 10 also comprlses a plurality of bullt-ln accelerometers 25, such as model ICS 3031-2 comme~ei~,lly available from IC Se~sors, 1701 McCart~y Blvd., Milp~tas, CA 9503s. Prefsrably, pen 10 co~prlses.six accelerome-ter~. 3rrang~d in pai~s, ~ith ea~h pair lylng alon~ a part.. ~lar axis, with the axes being mutually orthogo~al.
Alter~atively, the axes may not be rnutually or~hogo~al.
In any case the accelerometers nsed not be coplana~.
Pen lO also co~prises a plurallty of ampli~iers 30, a~oc~ated with the plural~ty of accelero~eters 25.
F~g. 2~ ~s a schematic dra~lny of a p~eferre~ e~od~ment of amplifler 30.
Alte~natively, removab~e apparatus compris.ng a plu~ality of accelerometers 2S as descr~ed above, and also C~ is~ng as~ociate~ ampl~iers 30, as deseribed above, ~ay be retrofitted onto the pe~ 10. The remcvable apparat~s may have the form of a cap fitting t~e erd of the pen, a ring fitting ove~ the pen, or any other suit-able ~o~m.
In a still fur~her alternative, the app.~atuæ
may not include a pen, but may h~/e any other su~table hand held f~rm. In a yet furthe~ alte~nat~ve, the appa-ratus ~nay be in the form of a ring fittlng the user' 8 finger, may be supported by the bod~ of B user, or mou~t-ed thereupon in any ~uita~le matter.
nC.T~nrr~ E~ (RULF26) DflS PRRRY 24GO~ TO: 613 230 8~21 ~JG 1. 1996 6:0BPI`1 #317 P.12 ~VO 9~i/21~36 l'Crr~1895/014R~

Pen 10 also comprise~ a ~wltch ~S, ~hlch ~an be used to ser~d a signal lndicating whether pon 10 is bei~g used for handwrltlng recogl~ition o~ as ~ pointing and control devlce. Alternatively the slgnal may ~e sent ~y moving pen 10 in a predef~ned format, or by any oth~r appropr~ate means. D~ring handwritlng recognitlon, th~
user ~ay write with pen lO on wrlt~ng su~face 37.
The data fro~ the plurallty of acceleromete_6 25 in pen lo i~ ter~ hereln "ac~elerometer data". T~e ac~elerometer data i8 sent through a aable to a contr~l clrc~lt 40. ~lternatlvely, the accelerometer data msy be sent through any suitable ~lreles~ communicatlon lirk, such ~8 ultra80nlc, lnfrared, or by any other su~ta~le mean~.
Control c~rcuit 40 amp~i~ie~ ~he accelerat_on signals from pen lo and convert~ them to ~lgital fo_m, preferably uslng aD analog to dlgltsl co-l~ferter. ~lg. Z~
~s a schematic drawing of a pseferred ~ A~ment of an analog to digital ~onverter s~itable ~or the present ap~licatlon .
Control circuit 40 then ~ends acceler~tlon ~ta to a CPu 50. CPU 50 may be any sultsble CPU such as an IBM PC ~ompatible co~puter wlth an B0386 p~oces60r ch p.
Asso~iated wlth CPU 50 are a s~een 60 an~ a keyboard 70. An ob~ect 80, ~uch a~ a cur60r or a gra~h$c rep~esentation of a ~hyslcal object, ls d~splayed on ~creen 60. When psn 10 i~ used for ob~ect control, CPU
50, ba~ed on the Acceleratlon data, move~ the cur60~ or graph~c repr~sentation 80 with ~ix d~gree~ of fre ~om, correspo-nding to the movement of pen 10.
A symbol 8s, such as one or more charactcr or word~, may al~o ~e displayed on screén 60. When pe~ 10 is u~ed ~or handwriting ~ecognitlon, ~P~ 50, based on the acceleration data, d~s~lays the ~ymbols corre~ponOln~ to ha~ ls written on ~rlt~ ng surface 37 ol~ s~reen 60 .
The functionality o$ 'c~e apparatus of Fi g .
C~ SHEEI (RULE26) FROM:LRD~S PRRRY c4~ TO: 613 230 81321 RUG 1, 1996 6:09P1~1 #317 P.13 wog5nl~36 rcT~ls95l~l483 will now ~e desc~ibed. U6ing switch 3~ the user ind~-cates whether h~ndwriting recognition or object con rol is to be performed. Depending on the user~ 6 choice, the apparatus of Fig. 1 perform~ the approprlate function.
The functlonallty of the sppasatus of F~g.
w~en per~orming object control w~ll n~w ~e briefly de-scrlbed. The user ~oves pen 10 in three dimenslons; the motlon may ~ncl~de six degrees of frseaom~ Pen 10 sends a¢celeratlon data ~e~slblng the acceleration~ of per 10 during the motion to control circu~t 40.
Control circuit 40 amplifies and digitizes the accelsration data. ~he data i6 sent by control box ~0 to CPU SO.
CPV S0 co~putes the tra~latior-..l displaoQment, veloc~ty, and acceleration of pen 10 alon;~ three mut~ally .. ; perpendicular axes w~ich axes nee~ have no relatlol to the axes of the accelerometers. CPU 50 also ~ompute~ the angula~ displacement ~rotation), ~elocity and acce_era-tion of pen lo around the ~ame three mutually perpe-dic-ular axe8.
E~sed on the computed output, CPU 50 moves the cursor or the repre~entation o~ an object 80 on ~creen 60 ~lth tran~lat~ons and ~otat~ons correspondlng to those of pen 10. Th~ axes for the translation and sotat$on of the c~rsor o~ object correspond to t~e a~e~ used to compute the translation and rotation of pen 10.
Reference is now additionally made to P~g.
which ls a ~impllfied ~lock diagram of the apparat~s of Fig. 1. Pen 10, whe~ moved by the u~er wl~h ~ix degrees of fr~edom, trans~ts data describlng the a~eler~tions of pen 10 to amplification c~rcult 120. Amplifl~atlon c$rcu~t 120 a~plifie~ the ~cceleration data and trals~ltæ
the amplified acceleration data to analog/digital ~on-verter 130. Analog/digital conve~t~r 130 dlgltize- ~he accele~ation data and ~ransmit~ the dlgitized data to displacement/velocity/a .leratlon ~omp~tation apparatus .~IIR~T~TUTE S~IEEI~ (RULE26) S PRRRY 24GO~ TO- 613 230 ~a21 ~lUG 1. 1996 6:10PI'1 #317 P.l~

~182627 ~0 95/21~3G r~ s3 140, termed ~erein DVA 140.
DvA 140 co~putes the a~g~lar alsplacem*nt, ~eloclty, and aoceleration of pen 10 around three mutlal-ly perpendicular axes which axes need ha~e no relatiol to the axes of the aecelerometer6. DVA ~0 ~lso compate~
th~ translational displa~ement, velocity and accele~ation of pen 10 along the ssme three mutually perpendicular axe~.
DVA 140 transmits data describing the ~lx degree~ of freedo~ to ~c~een display ~ontrol 150. Eased on the data, screen display control 1~0 up~ates scr~n 60 to show the new location and orientation of the cursor or the othcr ob~ect depicted on screen 60~
~ eference is ~ow addltlonally ~ade to F1~. 4 whlch ls a simplifled flow chart lllu6trating operatlon of the apparatus of Fig. 1 in accordance wlth a pre~Prred embodiment of the invention. The p~eferred method of operation of the method of ~lg. 4 includefi the foll~wing steps:
STEP 410; ~ead accelerometer data. Data from each of the plurallty of accelero~eter6 25 1~ sa~pled, preferably at a rate of one t~ousand data point per secona.
STEP 412; ~heck whether sessio~ is at the beglnning. A~ the beglnning of a ~es~on, ST~P 420, described below, ~s requlrs~.
STEP 415: Check uhether pen i~ in motion The accelerometer data is analyzed to determi~e whether pen 10 i~ in motlon.
Preferably, pen 10 18 considered t~ be n~t in motlon ~henever all of the accele~ation s~gnals ln~icate that the only sensed accelerations are due to grav$ty.
Signals are chose~ from one membe~ of each of ~hree palr~
of accelero~eters, each pair arranged along a dl~ferent axis.
Let the vector U~(Ul,U2,U3) denote the -ignals FR0~1:LRDf:S PRRRY 2468959 TO: 613 230 8821 RUG 1. 1996 6:10PM #317 P.15 ~18~627 Wo~snl436 . P~ 5~ ~83 --of the three accelero~eters ~et the ma~ri~ A-(Ki,~;,K3) denote the sen~tivities of each of the three accelero~e-ters.
~ e sensit~vitie~ of the ac~elerometers co~rect for any deviations of the axes of each palr of accel~rom-etBrs as they are actually mounted in pen 10 from the common axis on which they are supposed to be sltu~.ted;
this component of the sensitivlty ~s ~alled static sonsi-tivity. The sensitivities a~so correct for devla_lons between t~e axes o~ the global ort~ogonal coordinate ~ystem and the axes of the pair~ of acce~erometer~; thiæ
component of t~e sensitlvity is called dynamic senfiltivl-ty. In actual practice, both statlc sonsltlvity and dynamic . sensltivity may make i~portant contrlbutiors to sensitiv1~y, The statlc Eensltivlty i8 computed as part of step 420, descri~ed in detail below. The dynamic ensl-tivity ls computed 8S part of step 455, describ~d in detail below.
Let ~ denote a s~all positlve conStan~ for example, .OOSg where g denotes the a~celeration of ~ravi-ty at the earth's 6urface. Then the pen i6 con~_dered not to be in motlon whenever 1-6 C ¦ ~ lU ~
S~EP 420: Compute lnitlal condltlons. The ~nitial condition~ may compri~e the lnltial Euler .ngles bs~ween the global coordinate sy~tem and the axes of t~e pa~r~ of accelerometers. These Euler angleF are now deter~lned.
Assuming tha~, at the inltial ~ondltion, either at the beginning of the ~es8ion or when the pen ~8 not ln ~otion, the only acceleratlons measured are due to g~avl-ty, the ~tat~c sensit~vity can be computed f~m the accelerometer data while the pen is at re~t in three known orientations. Alternatlvely~ the statlc s~n~ itl~i-ty can be computed once ~s a prop¢rty of the pen a~d stored ~or suture u~.

L~ ~DC!TITIl~r E ~ T /QI IJ F ~

FR01'1:L~5 PRRRY 2'16E~9~ TO: 613 230 8E321 RUG 1, 1996 6:11P~1 #317 P.16 WO 95/21~3C . I C~ 101~83 STEP 430~ Compute the diffe~entlal signa~ ~rom each pair of accelerometeræ. The 6ignals fro~ ~ach member of each pair of accelerometers are s~tracte~ to form a 4iffe~entlal slgnal for eac~ p~lr of accelerome-ters.
STEP 440: Compute rotationa~ parameters. ~he rotational parameters def ine parameters of ~e mo~ion about the three axes of the global coordlnate 6yS :em.
The rotat~onal parameter~ ~omprlse the t~ree E~ler angles; the three a~gular ve~oclties; and the tlree angular accelesations.
~ he ~otational paramete~s are comp~ted ln parall~l usln~ an lterativ~ fè~h~k loop. In each iteratlon of the loop, an estimated diferential acc61er-atlon is computed from the current rotatlonal parameters.
If the difference between the estlmated differertlal accele~atlon and the actual differentl~l accelerAtion signal is less than a p~edetermlned s~ount, iteratio~ is termlnated.
Otherwlse, new value~ of the parameter~ a~e estimated in each iteration from the previous values and the difference be~ween the est$mate~ dlfferential accel-eration and the act~al dlffe~ent~al acceleratlon data.
~he method of this step is describe~ more fully ~slo~
~$th reference to ~lg. ~.
STEP 450; Compute translat$on acceleration.
The angular orientation and th~ angular accelerationl are known from step 440. Yrom the an~lar o~ientatlo~ and the sensltivlty vector the acceleratlon due to grav~ty i~
computed.
Given the angular acceleratlon a~d the accele~-ation due to graYity as ~ell as the sénsitivity v~ctor, the translational accele~ation i~ co~puted. The co~puta-tion is according to the for~ula at~X lu-ag-ar whe-e at is the tra~slatlonal accelera~ion; ~ is the sensi-ivity vector; u is the signal of one accelerometer; ag 1- t~e .~1IR~TIT~ C~ CT112111c~

FROI~I: LRDflS PRRRY 246E~959 TO: 613 230 ~3Ei21 MJG 1. 1996 6: llPI'1 #317 P. 17 2182627 .
9snl43fi l~ 83 componen~ of the acceleration of gravity sensed ~y t~e one accelerometer; and ar is the angular acceleratlon.
STEP 455: Vpdate dynami~ sensltiv~ty, As explained a~o~e, the dyna~ic sen~itl~vlty repre ents devlations between the ~xes of the global ortho o~al cobr~inate system and the axes of the pairs of accel~rom-ete~s. Since the angula~ orientation of pen 10 may ha~e changed, ths dyna~ic ~ensitivity may ~lso have changed.
Gi~e~ e change in the angular orientatlon of pen 10, the new dynamlc ~ensltlvity m~y be computed fro~
t~e new angular orient~tion and the old ~atrix of dynamic sensitivity.
S~P 460: Compute translational velocity a~d di~pla~ement. The transla~ional VBlocity is comput d by lntegrating the translational accele~atlon ulth r~spec~
to tlme. ~he displacement is co~puted by ~ntegratir.g the translational velocity wlth respect to ti~e.
STEP 470: Move screen ob~ect. Ba~ed or the output of prev~ous steps w~ich comprises transla~ional acceleration, velocity and displacement as well as angu-lar accelesatlon, veloclty and orientation, the -creen ob~ect i~ moved.. The moving of the screen ob~ect ~ay be according to any appropriate transformation of th~ mo-tions of pen 10.
Reference i~ now additionilly ~ade to ~iq. 5A
which i~ a ~lm~lified flo~chart illugtrating to ope-ation of step ~40 of ~ig. 4. ~ig. SA incl~eæ the fol owlng steps:
ST~P 480: Set initial pa~ameters. ~he rota-tional para~eters comprise the th~ee Euler angles; the three angular velocltles: and the three angular acc~lera-tions. The initial value for the Euler angles i~ el~mput-ea based on the previously ~nown val~e of the paramleters, assum~ng that the acceleration has remained con~tanit.
S$EP q82; Co~pUte dlfferential acceleration from model. Pirst the po8ition of an accelerometer 1 ~ /nl ~1 ~ qc~

FRa1:Lf3DflS Pf~RRY ~l~il3~3 TO: 613 230 8~321 RUG 1- 1996 6:12P~1 #317 P.ll3 - 21~627 wo 95nl~3fi , ~ 7U:.J~J01~8] ' the coordinate system of the pen is ceined by vector and the rotation of the pen in the gl,obal coord nate system is defined by a rotatlon matrix A(phl). For example, A(phl) m~y be an appropriate ro~ation matri~ as presented in ~ections 14.10-5 through'14.10-7, pag~s 475-q8b of Mathematical UAr~ook for Scientlsts a~d Engi~eer6 by Rorn and Korn, 2nd Editlon, publl~hed by Mc~raw-Hlll in 1968. Here p~i is a vector o~ Euler anqles:
phi~(~,B,r)T. Then the poslt~on of the ac,cele~omete_ in the glo~al coordinate system R is deflned by RcAr.
Reference is hereby additionall~ ~a~e to ~lg.
SB, which contains e~uation6 useful for undcrstandin~ the steps oP ~ig. 5A. Equation 490 lllus-rates the com~uta-tion . of the accelerat~on of the .accelerometer in the global coordinate syste~
As the Euler angles of the acceleronQte~
change, the sensltlvlty vector X al~o changes. The change ~n the sensltivity ve~tor X ~ay be co~uted by using equation 492 of ~lg. 5B.
Given the acceleration o the accelerometer and the new sensitivity vector, the esti,~ated value for the differentlal signal of the accelero,meter, ue~ may be computed by using equation 494 of Pig. SB.
~ he remainder of the ~arame.ters may be co~p~ted with an appropriate model. Preferjbly, a model ~h~ch allows the use of only the para~eters speci~led above, rather than a larger numbe~ of param~ers, is used. For example, equation 496 of F~. SB rep~esents an appropr~-ate model ~or computing the remainde~ of the parameters.
STEP 4~4: Is the difference between the com-pu~ed and the current value less t~an a predete ~ned amount? If the difference is less than thl~ amount, the estimated param~ters are ~aken to bb correct and tera-tion is termin~ed, with the computed parameters beiag reported.
An appropria~e ~alue ~o~ the predete_m~ned SUBSTITUTE SHEET (RULE 26) FRO~DRS Pf~RRY c4~ TO: 613 230 8E121 RIJG 1. 1996 6: laq~l #317 P. 19 WO 95121436 PCl`lUSg~101-83 --`

amount ~nay vary depending on, ~or e~cample, the nla ~i~w number of desired iteration~. One pQS~ible appropirlate value would be . 0003 g, where g re~re~er. ~;~ the acce'lera-tion of gravity ~t the earth ' s surface .
STEP 486: Compute changes in estlmated angle~
a~ording to the gradient ~nethod. New estimated ~,ngles are computed by a~dlng a change to the old esti,mated angles the change ~8 co~puted according to tbe gr~dient method. The gradlent method i8 explained ~ore ful_y $n sectlon 20.3-3 of Mathe~atical ~n~ook for Sc~ertists and Engln~ers by Korn and Korn, referred to above, STEP 488: Compute new paramete~s~ ~ew ~alues for ~he re~aining parameters are domputed. Ite~a~ion then continues with step 482.
The functionallty of the apparatus of ~_g.
when per'or~ing handwriting recog~ition will n~w be br~efly .ascribed. Pen 10 sends acceleration ~ata through. control clrcuit 40 to CPU 50. Teachinq and recognition then occur based on the data from pen 1~.
Reference is now a2dl~ 11y ~a~e to Pig. 6 which is a simplified block ~iag,~m of the apparat~s of ~ig. 1 when used for hand~riting recogni~ion. The appa-xatu~ of Pig . 6 receives lnput f rom psn 10 .
Pen 10, when movsd by the ~ser of the ~aJdwrlt-ing recognition apparatu~, transm$t~ data describir g the acceleration~ of pen 10 over tlme to acceleration teach-ing control 630 and/or acceleration handwriting r~cognl-tlon control 650.
The data from pen 10 may be transmit~ed to acceleration tQachi~g control 630~ Transmission to accel-eration teaching co~trol 630 typically occurs fo_- each ~erson ~ho is to use ~he system for handwritlng r~cogni-tion for the first time. ~ransmls~ion to acceleration teaching control 630 also preferebly occ~rs when r~3cog~i-tion errors are d~tected use of acce~eration t~ach~ng control 630 when recognit: n errors are detec~ed ls ~IIRSTITuTE SHEEr (RU~E26) LRDRs PRRRY 2~GE~3'3 TO: 613 230 81321 f~lJG 1. 1996 6:13P11 #317 P. 20

2 6 2 7 WO9~2143G . I~l/us~sol4s3 ~ermed herein adaptlve teaching.
Acceleration te~ching cont.~ol 630 operater, on the data rece~ ved, ~hlch data represPnts hand mo~enents by the user when w~iting a 6ymbol, to~ether with ~P ~A~-ly-provided identl~icatlon of the syl~ol co~e6 that are as~ociated ~ith the data. Acceleratlon teachlng control 630 the~ updates databa~e 640, a pe=-person per ~ymbo~
acceleratlon dat~base. Database 640 co~ri~e~ proto-ype~
of accelerations for each symbol, com?rising ~ata ~ clf-ic to e~ch per~on fos each sy~bol, Alternatively, the d~ta f~om pen 10 may be transmitted to accelerat~on handwritlng recogn$tion control 650. Acceleratlon handwrit~g recognltlon con-trol 6S0 operates on the data recei~ed from pen 1~ to re~ognize the symbol represented by the mo~ement of pen 10 .
~ he o~tput of ac~eleratlon handwr~tlng re~ogni-tion control 650 comp~iRes a li~t cf symbol codes! and their respecti~e probabillties. ~n accele~ation hand-wri~ing recognition post-processing ciro~lt 660, c~oo~e~
the co~ect symbol cod~ ba~ed on the li~t of symbol codes and probabilit1es, and on post-proce~sing infor~atlon whlch prefera~ly comprl~es a dstabaS~ of prevlous confu-sions and a dictionary. The output of acceleration hand-writing recognition post-proces61ng ~ircuit 660 i~ a li~t of symbol codes and/or words sorted ~y likellhood.
Reference i~ now addltiona_ly made to Fig-,. 7A
and 7B ~hlch are simplified ~lo~ charts i~lust~at$ng operation of the apparatu6 of Fig. 7 in a~cordance ~i~h a preferred embodiment of the inventipn, when pe~forming handwriting recognltlo~ Fig. ?A l~lu~t~ates the ~ea~h-ing process and Fig. 7B illustrates the ~eco~nltion process. The steps ln ~ig. 7A include the followln~:
STEP 710: Read accelerometer data. ~he ~ccel-erometer data comprise~ data poln~s representing sa~pl~ng o~ t~e acceleration mea~ured ~y accelerometers 25.

~1~u~ IIT~ ~u~c~r~

FRa`1:LRDRS PRRRY 24GO~ l:1 TO: 613 230 BE~21 ~UG 1. 1996 6:13P11 #317 P.21 ~1~2627 95/21436 ~ C~1483 Preferably, the sampling rate is appro~imately 1600 data po~nts per second, averaged over 8 po1n~s, ~roducing an output of approxlma~el~ 200 data polnts pe~ second.
ST~P 712: Identify pen-sur~ace ~ont~ct te-.mi-nation The data from step 710 does not include the surface contact ~tatus of pen lO. The ~ur~ace contact status of pen lO may be der~ved from the accelera lltion data as follows:
The acceleration data is filtered to re nove co~ponents other than noise. ~o~ exanple, the accelera-tion data may be filtered by a Butter~orth diqital filter de6cribed in Diqital Filter Desio~ ~y T.W. Par~.~ ana ~.~
Burr~, John Wiley & Sons, 1987, chapte~ 7, 6ectlon 7.3.3, using the 4th orde~ lowpass digital filter wlth a cut-off fre~uency of O . 7 to 0. 9 .
The flltered acceleratlon ~ata i8 the~ ..nte-grated ove~ tlme. The slope of the integrated ~t l~ered acceleration data is then snalyzea ~o determine th~ ~oint at which the slope exceeds a thre~hol~ ~al~e. The ~o~ nt at wh~ch the slope exceeds the threshold value i~ ~aken to be the flrst point with status ~peh down". The ~oint at which the slope falls below a thre~hold value is -aken to be the first point with status "pe1 up~; the thre~hold ~alue may or may not ~e the same as the previously de-scribed threshold v~lue.
The threshold values de~aribed above may be determined ln advance for the partlcular type of pen snd writing sur~ace, may be determined b~ a learning process for the part~cular person, or may be de~ermined by ~ther ~ne~ns .
S~EP 715: ldent$fy 1nd1vidual ~ymbols and words. ~he ~ata rom the previous step 18 di~i~ed lnto ~ata representing indivldual symbols. The status which comprlses the status of "pen ~p" is termed hereln "pen not down~. Prefera~ly, the num~er of consecutive data points witb stat~s of "pen not do~n", whi~h data points C!l 112C!~ITI ~TF .~ FT (RII~E 26~

FRO1~1:LRDRS PRRRY 246E3959 TO: 613 230 E1~21 RUG 1. 1996 6:14P1~1 #317 P.22 Wo 951~143G ~ J~j~!i/( 1483 - ~
.

rcpresent a particular du~ation of the status "pen- not ..
down" i~ taken to lndica~e the end of a ~ymbol o~ o~ a ~osd.
Typ~cally, the duration of 6tatus "pen not downr withln a range from 200 mllll~econds to 400 milli-second~ is taken to in~ic~te the end of a symbol. Dlura-tion of the statu~ ~pen not down~ ln th~ range from~ 800 milliseconds to 1200 milllseconds is typi~ally taken' t~
indicate the end of a word. .
Alternatlvely, the end of a sy~bol or of a word may be ~ndicated by data polnts whlch represent pen mo~ements that are not part of a sy~bol, or by ~ther means. Outp~t data from ~te~ 715 co~prises ~ymbol end and word end data.
STEP 720: ~ormalize accel~rometer data~ The accelerometer data is normalized in tl~e or by other means, Appendlx A is a compute~ llsting ln the C pro-gra~ing language comprising rou~ine~ ~hat aro a pref~rred implementstion of step 720. The routines comprise ~he following routines in section II, "p~o pse~rocessing":
normal; toge~her wlth various deflni~ions used by roltine normal .
STEP 730: ~ilte~ accel~omoter data. ~he normali~ed ac~elerometer data received fro~ the prevlous step i~ filtered ln order to remove noi~e. The f$1te~ing may be accomplished by iteratlve ~moothlng of ad~accnt point~ until the total change in the ~ignal ~ue to a smoothing operation is less than t~e de~i~ed accuracy of the data, or by other sulta~le means.
S~EP 740 Parameterize accelerometer data.
The data is parameterized according to crlte~ia which are chosen .to ~epresent each ~ymbol. I~ the accelero~ete~s are not m~tually orthogonal, the ~cceleration data ~ay ~e ~onverted into equivalent data in a mutually orthDgonal coordi~ate system as follows:
Let the non-orthogonal slgnals be denoted by SUBSTITUTE SHEEr tRUL $) FRO~:LRDRS PRRRY 246~959 TO: 613 230 6~21 RUG 1. 1996 6:1~ #317 P.2~
- '~18262 ~

W~ss~l43c l~Y~u~s~l~s3 the vector u=(u1,u2,u3)T snd the orthogonal ælgnals be denoted by the ~ector u~u~l~u~2~3l~ Then ~'~AoA 1u where A is a vector of static ~onsitl~ity vectors A-~A1,A2,~3) of the three accelerometers. The stat~c sensitivity vector is compute~ from t~e outputs of the ac~elerometers during a defined orientation without movement. Ao is a dlagonallzed matrlx of sen~ltivity of the orthogonal coordinate syste~ com~lslng the norm of A1, A2, and A3.
T~e parameters prefe~a~ly compri~e the fo'low-ing:
number o points ~efore nor~allzatlon;
~ormali~ed slgnal of pen stat~s nor~alized signal o~ Z accel.eratlon;
slne of the angle ~' whlch ~ngle is define~ as the angle between the vector assoclated with the current data point ~AccXi,AccYi,~ccZi) and the AccXAccY plane as shown in Pig. ~A;
cosine of the an~le a';
sine of the angle B' ~hich .angle is defin~d a~
the angle between t~e vector that conne~ts the polnt before the prev~ous data point (AccXt_2,~ccY1_2,Ac~Zi_2) an~ e c~rrent polnt ~AccX1,Ac~Yi,A~cZi), and the vecto~
that connects the cu~rent point with the point afte.- the ~ubsequent point (AccXi+z,AccYi+z,A~cZl+~) ln 6pace ~Accx~A~cy~Accz) as shown ln ~lg. 8B;
and cosine of the angle ~.
STEP 750: Generalize pa-3me~ers. ~he p~.ra~e-ters of the symbol belng learned epsesent a fipe~lfic lnstance of the symbol~ The symbol prototype stored ~y the sy~tem is to represent the general ~haracteristlcs of the symbol ~s drawn by that person. Therefore, the parame~ers of the symbol belng learned are generalized by some su~table means, ~uoh as by computatlon of the a~er-age of the value o$ each paramete~ from previo~s in-stan~eS of t~e symbol along with the value of each para~-.SI IR~ rlT~ I~E SH~ (R~ II E 263 FRa`l~ S PPRRY C46Elx;~l TO: 613 230 81321 RUG 1. 1996 6:15PI~1 #317 P.24 Z182fi27 ~095~1436 r~ ~s/o-483 eter from the cu~rent instance of the 8ymbol .
S~EP 760: Update per-person per-symbol ac~el-eratlon prototype database. The newly comp~ted par2me-ters from the previous step are stored in the per-pe:son per-symbol accelera~lon prototype ~atabase.
The steps in Plg. 7B lnclude steps ~h$ch ~ave already been descrlbed above wlth reference to ~ig. 7A.
The remainder of the steps ln Flg. 7B include t~B fol_ow-ing:
STEP 800~ For each prototype in the pes-person pe~-~ymbol acceleration prototype d-.tabase, build a measure of comparlson between the sa~le and the proto-type, co~lned ove~ para~eters in t~e prototype. In accordance with a preferred embodiment of the present invention, all parameters are combined together to pro-- , duce t~e measure of comparlson. Appendix A is a computer listing in the C programing language domprising rou~ines that are a preferred implementation of step 800. The routines comprise the following, w~ich are foun~ $n section ~, "sym~ols recognltion": ma~e corr; cor~el hem;
obj funct; togethe~ with var$ous definitions used by the rou~i~es.
STEP 810: Create a list o~ probable sy~bols sorted by likelihood Based on the ~easure or mea ures of comparlson generated in 8~ep 800, a single 118.t of probable symbol~ sorted by likelihood 1~ generated~
STFP 820: Chcose the corr~ct 8ymbolS and the correct word based o~ the list, the databa8e of previous confuæions and a dictionary. ~he symbols wlth gr~atest llkelihood a~e the candidate8 f ro~ whlch the Correct 8ymbol is choçen.
The database of previous confusions provides info~mation that allows the correc~i.on of t~e choi~e of t~e correct symbol based on previous incorrect ide~tifi-cations. The database of previous confusions comp_ises, for each symboL, a li~t of other sy~bols whlch have been Sl~RSTITUTE SHEEr (RULE 26~

FRa`l:LRDRS Pf~RRY ~4~ TO: 613 230 ~E~21 f~UG 1, 1996 6:1SP~1 #317 P.25 Wo 95J21~3G rcrtusss~s3 confused with tlle first sym~ol; for ~xa~ple, that. the symbol " f " has of ten ~een confused with the symbol "b" ~
When ~uch an ent~y is foun~ comprising previous co~fu-slons Ior a symbol in the 11st, the gymbol or sympols that have previol~sly been con~uf~ed with the symbol ~n the list are added to the li~t ~n accordance with the p~evious example, if the sy~nbol "f " is found in tbe l~s~, t~en the symbol "b~ is sdded to the list.
An indication of the en~ of each word ha~ been passed as output since step 715, desc~ibed above. ~ased on the ind1catlon, the mo6t likely word, comprislng the most llkely identiflcations for each symbol in the ,ist, is ldenti~ied.
The most llkely word 1~ checked against t~e dictionary. P~ fera~ly, the dlctiona~y comprises bo~h a general dictionary used for all u~ers of ~he system and a ~ersonal dictionary for each uses -of the ~ys~em I~ an entry eXi6~S in the dictionary fo~ tbe most likely ~o~d, ~he word is cho~en a~ the correct identification.
If the most llXely word is not found in tl~e dictiona~y, all possible ~ord co~binatlons in the li6t are formed and eac~ is check~d against the dicticn~ry.
Among all such words ~hich are found in the dictlona~y, the word wlth t~e highe~t likelihood i8 then chos~:n as the correct ideDtification.
If none of the words is found ln t~e d~ction-ary, the most likely wo~d is chosen as the corre~t lden-tification.
. STEP E30; Check to ~ee lf a correction has been entered. During the p~oce6s of re~ognltion, the user of t~e syste~ is ~referably p~ovided with a vis~al indicatlon of each symbol recogn~zed ~ fter the end of a word ls ~etected, the user of the system prefera~ly is pro~lded with a visual indi-ca~ion of the word recogni~ed~ The user ~ay irdicate manually that a given word ~as incorrectly recognl2.ed and ~ T~TI ITI~ C!U~ 10~

FROM:LRDRS PPRRY 246~ TO: 613 2

3~3 8821 RUG 1. 1996 6:16P1~1 #317 P.26 21~2627 WO 95Q1~3C r~ g51~ 183 ---may lnp~t a correction.
STEP 840: Update databa~e of'previous co~fu-sions, Based on a manua~ correction ent~red in step 830 or an auto~atic co~rection based on t~e dic~ionary, the database of previous con~usion6 is up~ated. Based o~ a ma~ual correctlon, the personal ~lct~onary ls al 60 u ~ at-ed if t~e corrected wosd ls not ~ound in th~ dlction~!ry.
Preferred met~o~s and apparatus for handwr~ting recognitlon are descrlbed iR the ~ollowlng appl$cati?ons, the alsclosure of which i6 hereby lncdrporated by r~t~er-ence: PCl'/US92/08703; Israel 104S7~ T nppllc-~lon .-flle~ 31 January 1994 ln the US Recelving O~f~e ~y Ehu~
Baron and ~dward A Wolf e .
It is appreciated that t~e parti~ular embodi-ment described ~n Append~x A ~s ~nten~ed only to pr~vldQ
an extremely detailed di~closure o$ t~e present lnve~lon and i~ not intended to be lim~tlng.
- It is appreciatea that var~ OU6 features of the i~ventlon ~lch are, fo~ olarity, descri~e~ in the con-texts of separate ~rho~iment~ ~ay also be pro~id d in com~ination ln a single embodi~ent. Conversely, v~riou~
features of the invention which ~re, for b~evity, de-scrlbed ln the context of a single e~ho~m~nt may a_so be provided separately or ln any suitable ~ubcomblnatlon.
It will be appreciated by pe~sonfi skill~d $n the art that the p~esent lnventlon is not limltêd t~ what ha~ been particul~rly shown and de~cribed herei7above.
Rather, the scope of the present invention is ~.ef~ned only by the clai~s that ~ollow;

r~n IT~: C~FFT ~RI 11 F ~

FRa~l:LQDP~i P~RRY 24613959 TO: 613 230 ~31321 RUG 1. 1996 6:1-~1 #317 P.2'7 WO 9S/21-3G PC:TIUS95/0~83 APPENDIX ~
Recognition according . ~mbination Of signals pefinitions and data 5trUcture~;
Board tl fil~

Function Init_datatr ( pottbase ) set~ con~munir ~` ~ n w1th date translatio~ board via port portbase. It retl-ms:
O - colTnnunicaUon was es~u~l'~ed;
-1 - error on board (board ;~ not exi~
Mnt init_datatr ( int );
int ne~ ee ,~ ( void ~;
int read~ int channel, int ~ain );
Mnt read_point ( *truct polnt ~, Int );
/'int read_bl~ck ( struct p~int ', Int ma~_nurr~_poin~, int time~ut_for_begin, int tirneout_for_end, int key_mouse_stop ); ~1 Mlnt read_symbol ( strucl point ~, int, Int );
int mshit ( void ):
void close_datatr ( void );
~define PORT_BASE 0x210 A~derlne KEY_STOP 0x1 ~denne llOl.JSE_STOP 0X2 #define l~EY_MOUSE_STOP 0x3 #denne PEI~_WAIT 0x1 ~:define PEI l_NOW~lT 0x0 l~a~ ~ fil~
struct point_pen unsigned ax;
unsi~ned ay;
unslgned az;
~nsi~ned pn;
struct point_~ablst in~ x;
Int y;
Int p;
t~deline SYNCP~OBI r ox~o ~1 IQ~:TlTl ITF ~ ~ IRI 1I F ~

FROM:LRDRS PRRRY 246B959 TO: 613 230 B821 RUG 1. 1996 6:17PM #317 P.2B

woss/z1~36 . ]~ 153~rj 8j --Da~r.H tile detine PORr_BASE Ox210 de~ine CSR 0~0 ..define GAIN Ox1 4deline DACO_LOW 0 ~2 :~deflne DACO_HIG~t Ox3 ~de~ine l;~AC1_LOW Ox~
~de~ine DAC1_HIGH Ox5 #define CHANNEL_AX Ox4 ~deffnc CHANNEI _AY Ox5 ~define CI~ANNEL_AZ Ox6 #define CI IANNEL_PN 0 ~define ST/~TUS Oxe ~derme CHANNEL_EMPTY OxO ,' ~define IDREGICTER Oxf ~define GAIN_1 OxOO
#dcflne GAIN_2 Ox40 ~define GAlN_4 0~80 ~de~ine GAI1~1_8 OxcO
~define IEP~ Ox21 #deflne IIR Ox20 ti!define IRQOOxOB
~d~fine IR01 0~tO9 #define IRQ2 OxO8 deSino IRC~3OxOb define IRQ4 9xOc ~denne IR05 OxOd ~define IRQ6 OxOe ~define IRQ7 OxOf / struct poinS ( unsT~ned ax;
unsigned ay;
unsi~ned az:
unsigned pn;
I ;'l - :
~deflne ~INUS_PEN 1700 rOdefine PFN_UP Ox2 ~define PEI~ DOWN Ox4 ~define PEN_THRSLD 200 ~define EMPTY
~define BUFS12E Ox80 ..define TIME_COUNT 3000 #inelude <dos.h~

SUBSTITU~E SHEEr (RULE 261 FRa~: LRK~S PRRRY 21~00~ TO: 613 230 ~821 fYJG 1. 1996 6:17P1~1 #317 P. 29 ~^ ~18~627 WO 9~iJ2143C I ~ pr~ t3 ~ier.H file .. .. ..
Fl LENA~IE; SERIAL.H
Some detinitions used by SER.C

~1 ~deline COM1 #define COM2 2 #define COM1BASE Ox3F8 t~ Base port address for Ct:~M1 ~/
~denne C~M2BAS~ Ox2FB r Ba6e port sddre6s ~or COM2 Tho 8250 UART has 10 registers a~o~. '7 ~hrough 7 pon ad~fe~i~s.
Here Qre their ~dd,~sse6 telative to COM1BASE and COM2B~S~, Note thal the baud rate reglstcn, (DLL) and ~DLH) are actlve only when the Divlsor-La~cl1 Access-Bit ~DLAa) is on. The ~DLAB) 18 blt 7 o~
lhe (LCR).
o ~XR Output data to the serial porl.
o RXR Input data from the serlal port.
o bCR Initiall2~ the serial porl.
o iER Controls Intenup~ generatlon.
o IIR IdenLfi s Interrupts.
o MCR Send contorl signal6 to the modem.
o LSR Monitor 1hG st~tus o~ the serial port.
s o NISR Receive st~tus of 1he modern.
o DLL Low byt~ ol beud rate divlsor.
o DHH High byle o1 b~-Jd rate divisot.
~/ .
Xde~ine TXR O r TransmN tegister (WRITE) ^/
#de~ine RXR O r Receive reglster ~READ) ~/
~:de1ine IER 1 /~ Interrupt Enable :~define IIR 2 I Interrupt ID J
#deflne LCR 3 /' Llne control ~I
#deflne MCR 4 /- Mo~emcontr~l /
~detine LSR 5 /t LineStatus :~deline MSR 6 r ModemStatu6 /
1~define DLL O r DivisorL~tch Low ~/
l~define DL~ 1 /^ Divisor latch Hlgh '/

I = .. .. . .
Blt valuss held in the Llne Conlrol Reglster ~l.CR).
blt n.-_n 9 0-1 00-5 bits, 01_6 blls, 10=7 bits, 11-8 blt8.
2 Stop bll~, 3 o-pa~ty ~ if, 1=parlly on.

4 O=parlly odd, 1_parlty even Sticky panty.
6 sel break.
Toggle porl addresses.
, . I
~define l~lO_PA~ITY 0~00 #define ~VEN_P~RITY Ox18 #deline ODD_PARITY Ox08 SUBS71TU~F .C~JF~ ~

FROM:L~DRS PRRRY 246B959 T0: 613 230 ~21 RUG1. 1996 6:18PM #317 P.30 WO 9.U21~36 2 1 8 2 ~ 2 7 P~9 101~83 E~it values held in the l ine Slatus Re~lster ~LSR).
bit m~aning ,,, .. ,....................... :
0 Dala ready.
Overr~n error - Data reglster o~ el..
2 Parity srror- bad l,~r.~lsslon.
3 Framin~ error - ~o stop bit was ~ound.
Break detect - End to tran6nl1~1un re~uestnd

5~ Transmltter holding register Is empty.

6 Tr~r,sr"i~tar shlft register Is empty.

7 Tlme out- off line.
~define RCVRDY 0x01 #detine OVRERR 0x02 ~define PRTYERR 0x04 #dcfine FRUIERR 0x08 ~define BRKERR 0x10 ~define ~M~RDY 0x20 *deffne XM~RSR 0~40 #define TIMEOUT 0x80 r Bit valuo~ held In the Modem Output Control Regi~ter (MCR).
bit meanln~
. .
O Data T~rrninsl Ready. Computor ready 1O 9c.
Request To ~end. Cornputer wants to ~end data.
2 a~l~al1a~ output ~1 3 ~uxlllary output #2.(~ote: Thls blt must be 6et to allow The cornmu, -qt: n~ cud to ~end Interrupts to the system) - 4 UART ouput looped back es Input.
5-7 not used.
tldefin~ DTR 0x01 #define RTS 0x02 ~define MC_INT oxoa Bit values held in the Modem Input Status np ~;t~r tMSR).
bit meaning _ _ O delta t::lear To Scnd.
delta Data Set Raady.
z d~lta Rin~ 1n - r.
3 delta Data Carrler Deteet.
4 Clear To Send.
Data Set P~aady.
6 Ring Indlcator.
7 Data Carrier De~ect.

~define CTS 0x10 Jtceline DSR 0~20 CT~Tl I~F ~HEEI (RUL26) DRS PPRRY ~4~ TO: 613 230 ~21 RlJG 1. l~G 6:18P~1 #317 P.31 218~627 Wo 95t21436 I . 11-J: 3~ ~1483 --Bit v~lues held In the Interrupl Ena~le Register (IEf~).
bit meaning .. ..
0 Interrupt when data received.
Inlerrupt whcn transmltter holdin~ re~. ernpty.
Inlerrupt when data reception error.
3 Interrupt when change in modem slatus regls!er.
4-7 Not used.
. . I
#d~fine RX_INT 0x01 .. .
r . ~ .
Bit values held In the Inlermpt Iderlf~ . n f~e ,;ster (IIR).
blt meanin~
.
O Inl6rrupt pending 1^2 Interrupt IC) code 00~Change in mOdsm stat~ ro~ister 01-T,~r,~,..iller holdlr~g regls1er empty, 10=Data ~cel~..d.
11-r~c~ption error, or break encountered.
3-7 Not used.
., I
~defin~ RX_ID 0x04 ffde~ine RX_MASK0x07 These are the p0r~ ~d~lre~es ot the 825g Pro~ramm~bls Interrupt Controller ~PIC).
~1 .
*define IMR 0x21 r Interrupt M~sk P~egister port '/
~d~tine ICR 0xZ0 1 Interrup~Control Port ~/

An end of inlerrupt needs to be sent to the Control Port ol tho 8259 when a hardw~re interrupt ends #define EOI 0x20 / End Of InterrL~pt I

The ~IMR) tells the (PIC) to sen~ice an interrupt only If It Is not m~sked (FALSE).

#d~fine IRQ3 0xF7 r COM2 ~/
#detine IRO4 0xEF /~ COM1 /

The ~IMR~ t~lls th~ (PIC) lo ser~ioe an interrupt only If It is not masked (FALSE).
1 .
~define IRQ3 01~F7 / COM~ J
~define ll~Q4 0~tEF r COM1 /
SUB~ JTE S~EEi (RUlE 26~

FRO~1:L~DRS PRRRY 24G83~ TO: 613 230 13821 RUG 1. 1996 6:19PM #317 P.32 ~182!i27 ~09~143C r~J~ 483 int llag; 2B
int SetSerlal~);
int SetOthers(lnt Porlly, in1 Bils, int StopBlt), int SetSpeed(int Speed);
int SelPort(int Port):
void inTt_serial~v~
void comm_off(~old~;
void s~ (bll Pon. Int Speed, Int Parity, Int Bits, int Stop~11);
int putchpon~char);
void putstrport(char 3;
int 6oleh~ (vo~d);
vold offport():

S~rsonsl,H nle r ~- . .
FILENAME: SERCONST.H
Sorr~ definhlono used by SER.C

The 82~0 UART has 10 reglslers ~ç~- ~le through 7 port addte~ses.
, Here are their ~d~ 2s rela~v~ to COM1BASE and COM2BASE. No~e that th8 bsud rate reglstsrs, (PLL) and (DLH) are active only.w~en the Divisor-La~ch A~s~ 81t (DLA~) Is on. The (DLAEI) i6 blt 7 ~f 1he (~CR).
o TXR Ou~put data to the serlal pcr~
o RXR Input data from the serial port.
o LCR Inl~l~llze the serlal port.
o ICR Controls lnterrupt generation.
o IIR IdenU,. s interrup~s.
o MCR Send eonto~ signals to the modem.
o LSR Mon~tor the status of tlle serlal porS.
o MSFt Recelve statl~s of the modem.
o DLL Low byte of baud rate dlvlsor.
o D~ High by~ of ~aud rate divisor.
. I
#defino TXR O r Tran6mlt register (VVRITE) 1 #define RXR O 1~ Recelve regi~ter (P~EAD) /
~define I~R 1 ~ Interrupt Ensble #define IIR 2 r InterruptlD /
~define LCR 3 r Line control /
~define MCR 4 r r~Jlodem control ~1 *de~ine LSR 5 r Line StetlJs .'tdefine ~SR 6 / ModemStatus ~1 #define DLL O r Divi60r Lalch Low /
ffdeffne DLH 1 r ~ivisorlatch Hioh ~I
~denne DLAB 0~80 1 ~/ :
Bit values held in ~he Linc Control Register (LC~).
blt meaning . _ .
C!l It~CTlTI ITF .~I~E~ ~RUJ~ 26) LRDR5 PRRRY ~ TO: 613 230 8~21 ~ 19966:19P~ #317 P.33 WO 9SQ1~3G 2 1 ~ 2 6 2 7 ~ 9~lol~3 2g 0 ~ 00~5 bits, 01=6 bits, 10-7 bits, ~1-8 bl~s.
2 Slop bits.
S O-parity off, 1~parity on.
4 o_parity odd, 1=parity sv~n.
S Stidty parity.
6 Set break.
7 Toggle porl a~dresses.
/
..define NO_PARITY OxOO
#define EVEN_PARlTr 0~18 ~doline ODD_PARI IY 0x08 .
Blt values held In ~he Line Sbtus Re~istsr (LSR).
blt me~nin~
O Dats ready.
Overrun error - Dela regi6~er ov~ r. .Illen.
Parlty enor- bad ~na"~sion.
3 ~ramino srror - No stop ~it was found.
4 Br~ak detect - End to tran~n.isSi~n requ~s~ed Transmitter holdln~ re~i~ter is empty.
6 T,~h~".ilhr shlft rr~gister is empty.
7 Time out - off lino.
, #deline RCVRDY ox07 ~define ov~ERR ox02 ~de1ine PRrf~RR Ox04 .. detine ~RMERR ~xOB
"define BR~ERRoxl o " de~ne XMTRDYOx20 ~define X~.qT~SF~ 0~t40 ~deline TIMEOUT Ox80 r " ,.
Bit values held in the Modam Output Control Register (MCR).
bi; me~ning ._.
O Da~a Tsrrr~nal Ready. Computer ready to go Requsst To Send. Computer wants to send da~a.
2 auxlllary output ~1.
3 suxillarl/ output ~2.(Note: Thls bit must be set to allow t, ;. comrnu., skn~ card to send interrupts to the system) 4 UART ouput looped back as Input.
5-~ not usQd.
#detine DTR oxo1 ~denne R rs oxoz ~define MC_INT oxo~

Bi~ values held in thc Modem Input S~atus Ro~ister (~SF~).
bil rnsaning ... . .
SUBSTITUl~ SHEET lRULE 26) LRD~S PRRRY --1;a~ To: 613 230 ~21 RUG 1. 1996 6:20P~1 #317 P.34 WOssn~43fi ~ 9 Jo~483 --0 delta Clear To Send.
delta Da~a Se~ Ready.
2 della Ring Ir ~ -rl r.
3 della Data Carrier Detect.
Clear To Send.
Data Se~ Ready.
6 Rlng Indicator.
7 Dala Carrier Detect.
.. , . . - /
~denne CTS Ox10 #define DSR Ox20 ., r~
Bit values held in the Interrupt Enabh Re~ister (IER).
blt meanlng O Interrupt when data ,t ~i d.
Inlerrupt when transrnitter holdlng re~. empty.
Interrupt wh~en data receptl~n error.
3 Int~rrupt when chan~e in rnodem 6htu8 re~7ister.
4-7 Nohlsed.
~. - 1 #detine P~X_INT OxO1 r . --Blt values held in the Interrupt IdurC~c~ ;n Re~lster (IIR).
bil meaning o Interrupt pendln~
1-2 Interrupt ID oode 00-Change in modem statlls re~ister, 01-~ransrnltter holding reglster empty, - 10=Data .ecG~.~d, 11_re.,t ~tion error, or break encountered.
3-7 Not ul~d.
#define RX~ Ox04 #deflne RX_I~ASK Ox07 These are the port add,ess~s ot 1he ~259 ~luy,a~"..able Interrupt Controller (plc~

~de1ine ~ R o~t27 1 Interrupt Ma6k Register port ~/
#define ICR Ox20 r Interrupt Control Pott ~n end of in~errupt needs to be sent to the Control Port of the 8259 when o hardware inlerrupl ends, /
~detine EOI Ox20 / EndO~ Interrupl /

SUaSTllUTE SHEEr (Rll~E26) FROt~1: LRDRS P~RRY ~16~ T0: 613 230 B821 RUG 1. 1996 6: 20P~1 #317 P. 35 ~0 9Y~1~3~ 5-~483 --The (IMR) ~ells the ~PIC) to sorvice an interrupt on~y l~ It is not rnaskcd (FALSE) 1 .
nsi~ned char IRO[â~ 0x01, -0x02, -0x04, -0xB0, _Q ~0,-0x /
~Sdefine IR~3 0x~, COM2 ~/
~define IRQ4 0x~F r COM1 '/
in~ SerSetPorlBase ( int, unsigned ~ );
int ScrSetSpe~d ( unsisned, long );
int SerSetBitsPari~ySlopBit ( unsigned . Int, int, In~
Int SerPutChar ~ unsigned, ~ d char ):
int SerPutSlring ( unsl~nod, u-- .ig~nd ehar );
Inl Serlr.i''`~rSter ( unsigned );
int SerGe~Char ( und~ned );
int SerTestDSR ( unsigned );
Int SerTestCTS ( unsl~ned );
/~ int nag;
Int SetSerial();
int SetOthers~inl Parity, Int Blts, int StopBit);
Inl setspeed(int Speed);
int SetPon(int Port);
void inl~_ser"~vs7ir);
void comm_of~(void):
void sel~llport(ln~ Port, int Speed, int Parlty, Int Bits, int ~t~Rlt);
in~ putchpon lchar);
void puts~rpor~(char);
int ~0tcnport(void);
~old of~port0;
'-1 T~hlel.~ flle ~dR1ine PI~N_DOWN
.. define PEN_UP 0 #define PE~_OUTPROX 09 ~define TBL_WACOM_II 3 ~define TBL_DATA_ASCII
J~define TBI _DATA_81~A~Y O
J~define TBL_MODE_S~REAM 3 1tdefine TBL_MODE_SUIITWI_STREAM 2 ~tdefine TBL_MODE_SUBh~S5 u O
#denne TBL_MODE_POINT 0 #de~ine TeL_TYPE_ABSOLlJtE O
~define TBL_TYPEJRELATI~E
~defir~e TBL_MILLINIETERS 0 #define T9L_INCHES
#denne TBL_AI_WAYS_TRA~.'SMIT_YES
~d~Sin~ TBL_ALWAYS_TRANSMIT_NO 0 #d~fine 'rBL_BAUD_1 9200 Jldefine TBL_BAUD_9600 6 #deffne TEIL_E~AUD_4B00 5 #define Tf~L_BAUD_2400 4 fldetine TBL_E~AUD_~200 3 ~dcrine TBL_8AUD_600 2 Jtdefine TeL_BAUD_300 ~1 IR~TI~I ITF .~ rRI 11 1~ !~R~

FRa`1:LqDRS P~RRY Z~0~5~ T0: 613 230 8~21 RUG 1. 1996 6:20~t #317 P.36 - ~18~27 WO 9S/21~3G 1J~lru:~g~ 83 - -~;de~ine ~E3L_~AUD_150 t;de1ine TE;l _PARlTY_r~loNE 0 ~detine TE3L_PARllY_ODD
~de~ine TBL_PARITY_EVEN 2 ~:d~1inc TBL_STOP81TS_1 0 #define TBL_SrOPBlTS_2 #detine TBL_DSR_IUO~JITOR_OFF 0 ~defineTBL_DSR_~ONlTOR_O~ 1 ~defineT~L_DATALENGTH_7 O
~dcfine~BL_DA~ALENGTH_8 ~dofineTBL_TRANSFER_RATE_~AX 7 ~delin~TBL_TRANSFER_RATE_~00 6 ~de1ine TEL_TRA~SFER_RATE_67 #dofineTBL_TRANSFER_RATE_50 4 ~dofineTBL_TRANSFER_RATE_20 3 #define T~L_TRANSFER_RATE_10 2 ffde1ine ~BL_TRANSFERLRATE_5 ëdefine TBL_TRA~ISF~ER_RATE_1 0 #defineTBL_ORlt31NLOG_UPPER LEFT
~define TBL_ORIGINLOG_LOWER_LEFT O
~deflne TBL_~ATA_TE~MINATOR_CR_LF 2 #define TBL_DATA_TERlullNATOR_LF
~de~ine TBL_DATA_TERMINATOR_CR 0 int read_poin~_tablet_pen ( unsigned, Int, stNd poln~_teblet ~, 6truct point_pen 18~ );
int tind_se~pa~r.æt~r~_tablet ( int compon, unsigned 'pG~ Se ):
int ini~_tablet ( int port, unsigned ~on~ase, int cG~l".land_set, int data_formEIt, Int oper~l;on_ node, Int orlgln_type, int unit_mssure, int always_transmit, In~ spoed, IM PantY, int stopbi: ~ Int dsr_monltot, int dabl~ngth, int transfer_r8~e, int crlg_lo~, in~ data ~,""~ ~tr~r, int ma~ t, in~ max_y );
vold clos~_tablet ( unsign~d potl~es~ );

SUBSTITUl~ SHEE1 (RULE 26~

FROM:LRDRS P~RRY Z4G~ T0: 613 230 ~21 RUG 1. 1996 6:21P~ #317 P.37 '~182627 ... .
WO 9~121436 1 ~~ 1483 ---I R~adina ~rom devlco This procedure reads s~ hr ~ni~ed d~ta lrom ~he graphic tablct and acceler., .,ehl i r nt read_point_lablet_pe~ ( unsigned pv~tb~se, int re~d_pen, struct point_tablet tablst, suucl point_pen p~n~8] ) int ind_paclcsge _ o, reply, debug~10~, I;
v,-siyl,ed ~har p:~agp~ = { O, O ~ O ~ O ~ O ~ O ~ O );
if ( lead_pen ) read_poin1_pen ( &penl0] );
l- O ;
Waltin~ for syn~hr~-bit ~r do if ~ ~ reply ~ SerG~tChar l pu.lbass ) ) c 0 ) retllrn reply;
debvg~ reply;
if ~ ~ P~ ll = (char) raply ) 8 SYNCROBIT
break;
) while ( ind_p~ e~ c 10 );
r Error ~ No synchro-bit In 10 bytes /
j~ ( ind_paCka~e ~10 ) return SER_SYNC1~081T;
I Read the next 6 bytes from tabht end 6 polnts from zcc.~l~r~l..e(tt /
lor ~ ind_package = 1; Ind_package c 7 ind_p~-~k;~e~ ) if ( read_pen ) read_point_pen ~ 8pen[ind_package] ) If ( ( rl~ply - SerGelChar ( po,l~_~ ) ) c o ) retum reply;
pa~Agelind--packa~] = (char~ reply;

I^ R~ad last point trom a~ e!e.v...eter it ( read_pen ) read_point_pen ( &pen[ind_psclcage~ );
r Caleu -1es the values o~ the si~nals for table~ ~/

1able~-~x - ( p~ DPl0] & 0x03 ) cc 14;
table~-,x . = ( p~rlt-g~ lL 0x71 ) cc 7;
tablet-~x ~= ( pa; l ~ 2] 8 0x7l );
p~rl .ge~o] ~ 0x04 tablet-~x = table~-~x;
tabls~-~y ~ ( package[3] ~ 0x03 ) cc 14;
tablet-~y ~ ~ package~ ox71 ) <c 7;
tablet-~y ~= ( pa- ~3~t5] ~ û~713;

SIIR.~TITI IT~ .~HI;CT (Rl IJ ~

FRa~1:LRDRs PRRRY 2~ , T0: 613 230 8~21 ~UG 1. l~G 6:21P~1 #317 P.3~3 wo 9snl~36 . 1~~ 4B3 tablel-~p = 0;
il ( ! ( paeltage~o] & Ox40 ) ) tablel ~p ~ 99;
i~ ~ p4rkq~el3] ~ 0~04 ) lablet-~y _ - tablet-~y;
Il ( pAe~ set6~ & Ox20 ) ~ablet-~p = ( pa~s~l6~ & Ox1t );
return 0;
) GrA~ 9 /~ Two p.i~d ~s. Nonnalzation In time and Sllterin~ the lnp.~Jt si~na~s by mGoti.' ,ç

void normal ( int nu~old, ~loat arr_oldD, int num_ne~, ~loat arr_r~ewO
double koefl in~ ind_old, ind_new;
koet~ - ~double) ( nurr~_old~ loat) ( num_n~w~ 1 );
Brr-new~o]t arr_old[0]
tor ( ind_nsw . 1; ind_new c nwTI--new -1; Ind_new Ind_old ~ (int) ( floor ~ koeff ' Ind_new ) );
arr_new~lnd_new~ = ( ind_old + 1 - koeff ' Ind_new ) arr_old~ir d_old~
( koeft Ind_new ~ hd_old ) arr_old~ind_old ~ 1];
t an_newlind_newl = ur_new[ind_new];
arr_n~wllnd_newl = srr_oldlnun_old-1];
.

float smooth1 ~ int num ~ noat zD ) int ind;
nOat temp;
110at norma;
for (ind ~1, norma ~ O; ind c num - 1 ; irld~ ) {
temp = ~ z~hd -1]+z[indi+z[1nd+1~ 113.:
norrM ~= ~bbs ( ~[lnd~ - temp );
zEindl - tomp reSurn norma;
) .~1 IR.~TlTl ITF .~ ~ lRl~E 26~

~ DRS P~RI?R~I' c4GO~l TO: 613 230 8~21 RUG 1. 1996 6:22P~ #317 P.39 `- ~182627 W0 951Z143G ~,y"~ 83 ~ -111. Pa~ame~er's e~trdclion (`-q~ on of the parsmetcts or a symbol from the input si~nals ~/
int rnake_par ( char arg_ch ) s~ruct point 1 unsigned int x : 12;
unsi~ned int y : 12;
unsigned in1 ~ : 12;
U.IS;,~ ~d Inl pen: 4;
point, pointsl500];
Int read_noxLsymbol ( Fll E ~, ~truct pointO );
char f71e_narnel40~;
int lei , nurrber_poin1s c o;
f:ILE 'in_file, out_filel103, ~outJnUer , 'out bln;
tloat psraml6][NUMBER_POlNT], sum_part6][NUMBER_POlN~l;
int Indsx e O, max_point;
Int Ind, start;
in~ cur_x, r,~r_y, c~r_z, cur_p, float arr_~MAX_POlNll, arr_ylMAX_POlN~, arr_ztMAX_POlNt~, arr-p~MAx-polN~
I~ Initiallzation of the resulls arrays to zero 'I
for(ind=O;lnd~6;ind~1 ) for t Index = O; index c NUMBEPl_POINT; Index4 1 ) t param[ind]tindex] ~ 0.0;
sum_par[lnd~[index] - ;
?
r Id~r,ti~i atbn o~ the ~ile of data 'I
sprinn-t file_name, ~%o3d~smb~, [Int~ ~r~
it ( ( In_file -10pen ~ file_narne, ~rb~ ) ) c~ NULL ) strcpy (ext_err,file_name~;
ret-lrn -4;
stan o;
r Reading dats from file while ( ( max_poin1 c read_next_symbol ( in_me, polnts ) ) ~ O ) for ( Index c O; indox ~ maX_point; index++ ) ( Qrr_xfindexJ ~ ~nOat) polnts'lndex'.x;
arr_y~lndex3 . ~tloat) points Index,.y;
crr_zlindex] ~ (:loat) pD!"ls';..dex,.z;
arr_p[indexJ - (float) ~ L-.d~ pen arr_p~O~ = arr_p~ point 1] e 1 start~
nomber_points +- rnax_polnt;
J~ Calling ~he procedure n~ake_par_let for c~ parameters 1 6 1 make_par_lel ( arr_~, arr_y, arr_z, arr_p, param. max_point- 1 );

SUBS~ITUTE SHEEl (RULE 26) FR0M:L~DP6 PRRRY ~4Ga~ T0: 613 230 ~21 RUG 1. 1~6 6:22P~1 #317 P.40 ~- ~18~627 -Wo 9sr2luG PC~T/US~ 1483 /~ Calculating the average o( each parameter ~/
~or ( ind ~ 0; ind < 6; Indl~ ~
~or ( index = 0; index c ~UMBER_POINT Index+~ ) ( surn_parlind]tindex] ~- param[ind3tindex];
..
for ( ind ~ 0; ind c 6; ind+~ ) ror ~ index = 0; index c ~UMBER_POINT; Index~ ) s~m_par{ind]~index] /- start;
5Urrl_p8t[0][0~ c (lloa1) numbet_polnts / ~tart;
fclose ~ in~tile 3;
r wr,lte 8Y9 in Binary file ~1 ~printf ( file_name, ~3~ p- ~, (int) ar~_ch );
out_letter ~ fop0n ~ me_nerne, 'wb~);
tor ( index z 0; Index c 6; index~ ) 1wrlle ( sum_par{index] . si200t(noat), NUM9EP~_POINT, out_lel~er):
fclose ( out_letter );
rell~rn stert;

void makE_,r~ar_le~ ( float ~rr_x~i, tloat arr_yO . flo~t ,arr_zD .
floa~ arr_pn, tloat paraml6371~UhllBER_POlN'rl, In~ rna~-poin1 ) . I .
noal end_smoo1h;
tloat neu~_arr_xl500], new_arr_yt500~, new_arr_z~S00] . new_arr_p[5301;
int ind, index;
r Call 1Or pr~ pr~.c~ssi,~ 1 normal ( mzx_point, arr_x, NUMBE~_POtl'~T, new_arr_x );
normal ( max_polnt, arr_y, NUMBE~_POINT, new_arr_y );
normal ( max_po~n~, arr_z, NUMBER_POII~IT, new_arr~
normal ( max_polnt, arr_p, NUMBER_POINT, new_arr_p );
max_point = NUMEIER_POINT;
for ( Ind ~ 0; ind ~ rnax_point; ind~ ) arr_x'ind = new_arr_~iinr~];
arr~,lnd, = new_arr_ylndl;
arr_z'ind - new_arr_z,ind];
arr_p,ind~- new_arr_p[lnd~:
~Ivhile ( ( end_6moo~h ~ srnooth1 ~ ma~t_polnt, arr_x ) ) ~ NIJMBER_POINT 110 );while ( ( end_smoo~h c smoo~h1 ~ max_polnt, ~rr_~ NUMBER_POINT I 10 );
while ( ( end_6moo~h = snlooth1 ( ms~t_point, ~rr_~ NUM8Ef;'~_POlNT 110 );
/^ Initialization of parameters ~/
psram[0 o _ ~floaS) srr_pl0~;
paramtl, ,o, - ( arr_~o] - arr_z[01 );
param'2 ,0, = 0.0;
param,3]!0] - o.o;
param,4~103 = 0.0;
pararr~3[01 = -;

~:1 IR~:TITI ~T~ HFFl ~RU~E 21i~

L~s PRRRY 246~959 TO: 613 230 8~21 RUG 1. 1996 6:23P1~1 #317 P.41 ~ 2182~27 WO 95/2143G Pcsrus~ ol~u ---param~OJ[1~ lo~l) arr_p~
/' C~lCL~ ;On 01 parameters 'I
param(1][1~ - ~ arr_2[1] - orr_z~o~ );
elev ~ arr_x~2] - arr_x~O~, arr_y~2~ - srr_y[O~, art Zt2~ arr_z[O~, ~pararnl2~l1), 8pararn[3][1 par4m[4~1) = O.O;
par~rn[5]~ O.o;
for ~ index - 2; Index c ma~_point - 2; Index~ ) I
param[O~lindex~ oat) arr_plindex];
p~ram[1]{~ndex] - ~ arr_ztindexl - arr_z[O] );
ele~ ( arr_x[index ~ lJ - arr_x[inde~t - 1], arr_ylindex ~ rr~ index 1l . arr_zlndex + 1] -arr_z[inde~
&param[2~[indexJ, ~pararn(~]pndex~ );
an~les ( arr_x[index ~ arr_xrindex~, arr_ylindex ~ 23 - ur_y[lndex], arr_z~indsx ~ 2l - ur_z[indexl, srr_xtlnde~] - arr_x~indcx ~
arr_ylindex] - atr_ylndex - 2~, arr_zlindex~ - arr_z index - 2], &param[~]~index~, ~pararn[5]tjndex] );
index_ index;
paramlOllindexl _ T'~at) arr_plinde~;
param!1J~index] ~_z[index] ~ arr_ztO] );
elev ~ arr_x[index . 1] ~ arr_xlinde~- 1], arr_yllndex ~ rr_ytindex 1J, arr_~[ndex + 11 -arr_zllndex- 1] .
8paraml2][index~, &param~3~11ndexl );
~ param[4][index]~ -;
paramr~rlnde1t] - O.o Index~;
r ~akul~tion o~ parame~ers for last point '/
param[O]lindex3 _ (float) arr_pllndexJ:
pa!aml1 [index] - ( arr_z[inde~t] - arr_zlo] ~;
parr~mf2 tindex3 = -:
psrarn~3,[index~ = 0-0 i pr~r~ 4][index~ = O.O;
paraml5]tindex]- O.O;
) /~ Proced~re nlev ca~rlJIates the SIN and COS o1 the an~le of el~allon '/
~oid elev ~ tloat x, float y, tloat z, tloat 'cos_Ug, tloat ~sin_ug ) lloat norma;
norma~t1loat)6qrl~x~x~y y~z~2) il l norrna ~ .00001 ) I
'r os_U9 ~
'sin_ug 8 0.0;
return;
) 'cos_ug z ~ (tloat) sqrt ( x x ~ y ' y ) ) I norm~;
~sin ug = z / norma;
return:
) SURsTITUTE SHE~T r~l IJ ~

LRD~S PRRRY ~4GO~ TO: 613 230 E~1321 fYJG 1. 1996 6:23P~1 ~317 P.42 ~18~627 W() gS12143G ' I~ u;~ 1483 --' /~ Procedure angl~s c~ os ~he SIN and COS of the an~le ~ ~t void an~les ( lIoat x1, lIoat y1, noat z1, float x2, float y2, ~loat z2, .flo~t cos_ug, noa~ '~in_u~ ) {
~loat normal, norma2, x3, y3, z3;
normal _ ( lIoat ) sqrl ( x1 ' xl I yl ' y1 ~ z1 ~ z1 );
normBz ~ l tloa1~ sqrt ( x2 ^ X2 ~ y2 ~ z2 - z2 );
;f ( norrna1 c .ooo1 il norrna2 c ~ooo1 ) .o;
's~n_ug = o.o ;
return;
~cos_U~ _ ( x~ y~ Zl ' ~2 ) / norma1 / norm~2;
X3 - ( yl ~ z~
y3~x2'~1-xl ~
z3=txl 'y2-x2'yl);
sin_u~ = ( (lloat) sqrt ( X3 X3 ~ y3 ~ y3 ~ z3 ' z3 ) ) / no~nal / norma2;
return;

FROM:LflDR5 PRRRY ~ æ~ TO:613 230 882l fWG 1. 1996 6:23PI-1 #317 P 43 ~182627 WO 9~21~3G I ~ ~OIJR3 V Tr~inlna procçdures r Procedure tor preliminary teacl7in~ '/
int first_teach ( void ) FILE ~1p;
FILE Ipout int ~;
char bul~41 NdxStr[4], symholc[2F6]:
int ndx . O, max_symb ~ 0 Int num_sym;
CGI N~ r,~,1 ,9 data files, ple~se wait-,0,1);
It ~ hpen ~ 's~ ' rlat~, r'~ ) ) 2- NULL ) f 8trepy (exLorr,~ 1 ok rl7~
hlde_w, H ,e ~t (~con~erting data files, please W~ ,o);
return ~4);

~hile ( fscant ( fp, '%s', buf ) ~ 0 ) ~ nb~i~[max_symt~t~] ~ bu1[0];
fclose ( Ip ) ~pout-~open ("text adp','v~
~or ~ ndx 0; nd~ c max_symb; ndx~
sprintt ( 1~dxStr, ~%03d-, ndx ~;
: If ( ( nvtn-sym~make-par ( 6~."bol~[ndx] ) ~ ~= ) hide_comment ~conv~rti ~ data files, please walt-,O);
return (num_sym);
else lor ~I.O;icnum_sym;i++) tprintt (1pout,-%c ,symbols[ndO
fclose (~pout);
hlde_co ~ e~ converting data flles, please ~alt~,O);
return ~0) r prooedurefor ~ pt~tion olpr~.t~ ,es 1 float hu~e ~all_parl100];
int ~irst_sdsp ( Yoid ) ( float old_rec, n~w_rec Int Goun~2o, ternp char text;
char strtBOI
if ( ( temp ~ read_tex1 ("try txt~, &tex1 ) ) c O ) retun~ernp);
read_paranl l ~;
new_rec ~ rewgn ~ ^t~ prl', te~ct, O, o );
sprintt (slr,-%31-be1Orc cd~pl~tion-,new_rec);
commenl ~str,-1,1);
do ~

S PRRRY -hiO~ TO: 613 230 8~21 ~UG 1. 1996 6:24P~ #317 P.44 21~2627 --WO95r2l~3c P~ ,g~GI~83 it (new_rec c o ) ~
hide_comment ~s~r,-1);
while ~ all_parllemp~ ULL ) fa~ee ( all_parltcmp+~] );
rellJrn ((int) neW_rec), il ~ new_ree > .9g5 ) break;
dd_rec 8 new_rec;
new_rec = recogn ( ~try.prl-, text, 1, 0 );
i~ ~new_rec c ) l hide,c~ln,nenl (str,-1);
v~hile ~ ailLpartternp] !- NULL ) Sarlree ( all_pzr[len,pw] );
return ~(int) new_rec);
hlde_a,,.u.,e nt (6tr,-1);
~print~ (str,'%3~- in ~ r t 1 n~,new_rec);
comment (str,-1,1);
new_rec = recogn ( "by.prl', text, O, O );
hide_c~.~,....er,t (~tr,-1);
sprintS (str,~,' 3f-aner adaption',new_rcc);
tom~en~ (str,-1,1);
il ~new_rec c O ) ~
hide_coml..ent ~str,-l);
whlle ( alLcarttempl 1- NULL ~ l ~ er~roe ( all_par~temp+~
return ((in~) new_rec);
}

~ whlle ( 'abs ( old_rcc - new_rec ) > .005 & covntt+ c ~ ) hidr~_cornment ~str,-1);
tarfree while ( all_p~.[~mp] l~ NULL ) 1arfree ~ pL~[t~
retum O;

SuBsTlTuTE .SHEf~ ~R~

FRO~:LRD~S PRRRY 21GO~ TO: ~182~327~ 8e21 ~ 1. 1996 6:24P~ #317 P.45 WO 95~ 36 I .~ ;101~83 --V. Svmbol'S recogrlitiOn stn~c~ point ~
unslgned int x : 12;
unsigned Inl y 12;
unsi~ned int z : 12;
unsignedlnt pen: 4;
) ;
struct reply ( int ndx;
tloat WQi~ht;
~;
tloat reco~n ~ char 'file_pen, char tex~, Int adapt, int ~vc~rd~ ) ( 11oat old_rec, new_rec, probs~l O][ZOJ;
int co~ t=O;
char syrrll~Q1~756], b~t[4];
unslQn~d long ttl;
Int max_symb;
FILE 'in_tite, ~file_symb, ~temp_word;
int symb;
unsigned long sta~ ord, end_word;
float paran~[6~[NUMBER_POl int index = O, max_polnt:
strud reply repl;
int lemp;
int ~la~ ~d O;
int ind, NumSymbols ,ndY:
struet point symb_pnts lMAX_POlNT~
tloat arr-~qM~t - polNTl, arr_y[MAX_POlNl'l, arr_z[MAX_POlr~ . arr_p~MAX_POll~n;int mapl2561;
int order-O:
char lettersl10]~20],dict_wrds~10]~20]
Int end_o~_word-O;
int wrdlen;
tlDat ~umllOl,maxsum,ndx_maxsum;
char org_wrd(20~,t~ "JI~O];
Int t~_wldth;
in~ i;
If ( ( file_syrnb = fop~n ( ~sy"~bols dat-, ~r ) ) ~= ~ULL ) ~
6trcpy ~ext_err,~y.nbols.dat~):
return (-4);

70r (Ind-o;lndc256;1nd-f~) map[ind]c-1;
ma~symb- O;
~vhile ( fscanf ( file_6ymb, ~,' s~, buf ) ~ O ) ( ~P [bu1~o]]~ -symb 5y~"l~ol;~[max-symbt~ - but[O~;
~closc ( file_symb ):
syrnbols[max_symb] = ;
~or ( ind _ O; Ind c 6: Ind++ ) t~l 1~,, ., r, r . _r ~_r ~

FR01~1: LQDRS ~t c4~ T0: 613 230 8~21 RUG 1. 1996 6: 24PI~1#317 P. 46 ~182~2t7 Wo 9~143~ PCTlUS~ 3 --~

Ior ( ind~x = o; index c NUMBER_POINl; index~.~. ) pararn~ind]~index3 z o.o;
if ( ( in_fjlo c 10pen ( ~ile_pen, ~rb" ) ! =- NULL
..
strcpy (ex~_err,file_pen);
return -4 Indc~c ~ o;
~lumsymbols - 0;
symbs-1;
If (adPpt) r~pl = make_corr ( param, r;ymbols, symb);
else ( repl, make_corr ( param, ~ymbols, -1);
1~ (repllo].ndxco) return ( repl[0].wei~ht);
if (repll03.r.d~; sy..l~) Ng~dl l;
else Ngood _ Ng~od;
) fclose ( in_Dle );
lumSy.~l~ols.;_0) return 0;
el~e return ~Ngood/(float)NumSy".~ols);

r C~lc~ n ot 1he ~imilaritv of all the parameters of ~ll the prototypes and the syn~bol to be r~c~r~kgd l extern tloat huge 'all_parl100~;
strua reply ( int ndx;
fioat wei~hl;
~' strltic Int comm_count = 0, abs_count ~ 0;
in~ obLtunc~ ( noa~ . Int, in1, float ~1003, ~loat p] . Int [10l );
float oorrel_hem ( ~loot [NUMBER_POINTl, tloat [NUMBER_POII~I" . float ) noat correl ( float tNUM~ER_POlN~ . noat ~NI IMBER-polNTi );
struct reply make_corr ( ~loat cur_parl6][NUMBER_POlN n, char 'symi~ols ,;nt symb) tl~E 'cu~ le;
int ind_repl . ind_oorrct, ind, max_symb, ind_symb, Index;
struct reply arr_repll~0);
in~ arr_lnd[10];
float resl100], nresl7~, old_max_pnt - cur_p~rt03t03, com_wight;
rloat old_m~x_pnt2, corr~ 7], tmp~_par~6]rNUi~BER_POlNT];
char bu~[~];
int iterat s~ruct reply n;
in~ i,j;

SUBSTITUTE SH~E~ rRI IJ F ~

FRa~i:L~S P~ ~ TO: 613 230 ~1821 ~UG 1. 1996 6:25PI~1 #317 P.47 - ~18~627 WO 95/~1436 rcTlusg~l483~~-max_symb = strlen ( symboIs );
lor ( Ind_symb = o; ind_syrnb c max symb; ;nd_symb+~ ) ( ~or(i-O;ic6;
for(j=O; jcNUMeER_POlNT;I+~
Imp_par[i]~1 z alI_partind_symb~ OO+j1;
if ~ ~mp_parlO~[O~ ~ o ~1 cur_parlO3~0] = old_max_pnt;
eo~r{lnd_symb3~N_PA~ 1.0' ~
min ( labs ( tmp_parlO~[O] - cur_parlO~tO] ) / cur-parto][ol, 1 ) );
old_max_pnl - c~lr_partO~lO~;
~rnp_parlO][4] ~1.;
cur-paqo~[o~
corrllnr~_syrnb~lO] = correl_hem t cur_parlOl, tmp_p~rlO], .~ );
tor ( Ind ~ 1; Ind c N_PAi~ -1; Ind~ ) ~
cotrllnd-symbl~ind~ ~ correl ( cur_parlIndl, trnp_par~ind3 );
]
) else for ( Ind _ 1; ind c N_PAR - 1; ind~+ ) corrlind_symb~rmd~ = 0.0;
) ) if (symbcO) , index = ob]_tunct ( cor. . ma~symb, hl_PAR, tes, nres, arrJnd );
Iterat=20;
else f sprintt ( bu7, ~%Q3d~r~ int) ar~ ollsym~
~ortlrO;lc6;i~) tor ( j c O; j ~ NUMBER_POINT; J~ ) tmp-pertqo] ~ all_parlsymyD~1oo+Jl;
iterateo;
whlle ( (I"dax~obJ_tunct (eorr,max_syrnb,N_PAR,res,nres, arr_ind))>O
~ ~arr_lndtOp.~symb)) [
1f (iterat~1~) break;
for (Ind-O, Ind_corre~-O; IndcN_PAR-1; Ind++) 1t (eorrlsymy~lnd]~o.95 ' nreslmaJ) Ind_corrct+~;
tor (index=O; index ~ NUMBER_POINT; index~+) trnp partind]~index] = tmp_par [Ind][inde~q~.g ~Cur_par{inaJ~ de.~] `.1;
) it (corrtsyrnb3~1ndlcO.g5 ~ nres~lnd]) ind_corrd~+;
Unp_partG]IO] = Imp_par~O]10~ ~ .9 ~ old_ma~_pnt ~ .1;
I~ (!ind_corrc eral = ~u;
break;
. ) .

FROM:LP~S P~ ~'3 TO: 613 230 ~21 RLG 1. 1~96 6:25P11 #317 P.4~

W0 9.sl2l~36 iteral~
cur~parlO]IO)- old_ma~_pn~;
corrlsymbJlN_PAR-1]-1-fabs(tmp_par[O]~Ol cur_parlo]lol~/ cur_parlO~[O];
old_max_pn~ - cur_parlO~[O~;
old_rr~x_pnt2= lmp_parlO][O~;
tmp_parlol(o~
cur_par[O][~] = 1;
corr~symb~O~ c correl_hern ( cur_parlOl, tmp_par[o], 9 );
tor ( lnd z 1: Ind c rJ_PAR -1; ind+~ 3 ~
corr[syrnbl[ind~ - correl ( cur_par~lnd~ . tmp_p~r[indl ~;
) cur_par~o~lOl ~ old_max_pn~;
tmP-p~rto]lo~ 5 old-rnax-pnl2;
r wnlie /
) r ~Ise '/
if ((Iterat~20) ~ ~index~O~ ~8 (iterabO)) ( cut_file = ~pen ( buf, 'w+b- );
fo~ ( Index - 0: Index c N_PAR,,1 Index l ~ ~
lwrite ( tmp_parfindex), skeof ( float ), I~UM3ER_POINT, cLIr_file );
tclose ~ cur_file for(i=O,ic6;h+~
tor ( j = O ; j ~ NUMBER_POINT ; j++
all_par{symb]ll-100~D = trnp_par[
Index ~ min l index, g );
arr_ind!index~
~ res~rr_ir~l'..dcxn=-1;
~or (isO;jc=irlJex,l+~) arr_repl[i].ndx.arr_ind~
arr_repl~i].wel~ht=-res[arr_ind[i3];
return zrr_repl;
) I Ca~cul~ n of correlation bet~Ner~n two vect~r~ ~l float co~rel ~ tloat tirst~NUMBER_POlNTl, float second[NUMBER_POlNn ) float sumxy = 0.0, surnx = 0.0, sumy - 0.0, sunlx2 = 0.0, s~!my2 ~ 0.0;
int l_d, I_s;
for ( I_s = O; i_s c NUMB~R_POINT ~_s~ ) ( sumxy += first~ s~condr_~];
surrLx ~_ n-stti-s1;
~surny ~_ ser~ond[i_ri];
~ mx2 ~ ~irs~ s] ' tirst[l_s];
sumy2 ~ second[i_sl ~ second[i_s~:
) If ( ( 6urrlx2 - sumx ~ sumx / NUMBER_POI~T ) c O ll ( sumy2 sumy sù~ny I NUMBER_POINT ) ~ O ) return o;
il ( ( sumxy _ ( sumxy - sumx ~ sumy I NUM3ER_POINT ) I

ClIQ~!rlTIIT~ 1IJ 1 !~

FRa`1:L~DRS PflRRY ~460~ TO: 613 230 8~21 RUG 1- 1% 6:26PI~1 #317 P.49 WO ~Q143C 21 8 2 6 2 7 ~ J.,~ 4R3 sqn ( s~mx2 - sumx ~ sumx / I~lUMBER_PolNT ) /
sqn ( ~umy2 - s~)my sumy / I~ JIBER_POIN r ) ) c .~ ) re~urn O;
rell~rn sumxy;

/' Similarlty ~Jnction tor the parameter ot pen upldown /
tloat correl_her~ loaî par7[NUl~.~E~_POl~ , lloat p~rztNuMElE~ - polN~, noat b~rder ) in1 index;
~loat resull e 0.0;
~or ( index = 1; index c 1~IUM~ER_P011~1T; indsx 1 ~ ) result += ~abs ( parllindexl - per21index] );
result 1- ~UMBER_POII~IT;
result . 1 - result;
I~ ( re~ult c border ) retum P;
return result:
) r Sele_t;on o~ the list of symbols that are likely to be the ~ymbol to be r~c~r,i~ed '/
int ob~_1unc~ ( tloat srrt100]p], int n_~yrnb, int n_par, tloat res~100] . tloat nres~7~, im arrindex[30] ) ' . ~ int ind_s, Ind_p, ind_arr = O;
: 110at max_res - 0.0, cur_res, abs_res = 0.0;
Int result_ -1 lor ( ind_s ~ 0; Ind_s c n_~ymb; ind_s~+ ) ~
10r ( ind_p = O, cur_res 0.0 ind_p c n_par; ind_p+~ ) eur_res ~= arrt.- ,_s]~lnd~
res[ind_sl ~ c~n_res;
I~ ( cur_res > m~x_r~s resull = ind_~;
rnaY_rss c cur_re6;

abs_res = ma~_res ~ .85 d~ ( arrindexlind_an~] = result;
r~s[result3 ~ ~ reslresult];
for ( Ind_s = O, ma~t_res c O.o; Ind_s c n_symb; ind_s++ ) I~ ( reslind_sl ~ max_res ) ( resull = ind_s;
max_res_ res[lnd_~];

3 while ~ ma~_res ~ abs_res && Ind_arr c ~0 );
lor ( ind_p = 0 ind_p c n_par; Ind_p~ ) tor ( ind_~ = O, nres[ind_p] _ -5; Ind_s c n_syrnb; Ind_s~ ) nresllnd_p] - max ( art[ind_s~[ind_p] . nresllnd_p] );
rcturn ind_srr;

SUBSTITUTE SHEEr (RULE 2~)

Claims (22)

C L A I M S

1. Information input apparatus comprising:
body supported apparatus for sensing voluntary body motions and providing an output indication thereof;
a symbol output interpreter operative to uti-lize said output indication for providing symbol outputs;
and a motion output interpreter operative to uti-lize said output indication for providing motion control outputs.

2. Information input apparatus according to claim 1 and wherein said output indication represents features of body motion including features which are characteris-tic of the individual.

3. Information input apparatus according to either of claims 1 and 2 and also comprising a mode selector operative to cause a selected one of the symbol output interpreter and the motion output interpreter to func-tion.

4. Information input apparatus according to any of the preceding claims and wherein said body supported apparatus is a hand held device.

5. Information input apparatus according to any of the preceding claims and wherein said body supported apparatus is a generally pen-shaped device.

6. Information input apparatus according to claim 5 and wherein said generally pen-shaped device is opera-tive to provide a visible writing function.

7. Information input apparatus according to any of the preceding claims and also comprising an object whose motion is controlled by said motion control outputs.

8. Information input apparatus according to claim 7 and wherein said object is a graphic object displayed on a display.

9 . Information input apparatus according to claim 7 and wherein said object is a physical object.

10. Information input apparatus according to any of the preceding claims and wherein said symbol outputs represent alphanumeric symbols.

11. Information input apparatus according to any of the preceding claims and wherein said symbol outputs represent a sensory quality.

12. Information input apparatus according to claim 7 and also comprising a computer, having a location input and a symbol input, and a display operated by said com-puter and wherein said symbol outputs represent informa-tion to be displayed on said display and said motion outputs are supplied to said location input and are employed by the computer to govern the location of said information on said display.

13. Information input apparatus according to claim 7 or claim 12 and wherein said symbol outputs include function commands.

14. A method by which a manipulable device provides an output indication representing its own angular motion, the method comprising:
recording actual acceleration data from a plurality of accelerometers mounted in the manipulable device;
generating predicted acceleration data on the basis of hypothetical angular motion information;
comparing the predicted acceleration data to the actual acceleration data;
computing improved hypothetical angular motion information;
while the predicted acceleration data differs significantly from the actual acceleration data, repeat-ing the generating, comparing and computing steps; and providing an output indication of the improved hypothetical angular motion information.

15. A method according to claim 14 wherein the angular motion information includes angular displacement information, angular velocity information and angular acceleration information.

16. A method according to claim 14 or claim 15 and also comprising computing linear motion information from the improved hypothetical angular motion information and from the actual acceleration data.

17. A method according to any of claims 14 - 16 wherein recording comprises recording from at least four accelerometers mounted in the manipulable device, wherein the accelerometers each have a center of mass and wherein the centers of mass do not lie within a single plane.

18. A method according to any of the preceding claims 14 - 17 and also comprising receiving the output indication of the improved hypothetical angular motion information and manipulating an object in accordance therewith.

19. An accelerometer array mounted in a manipulable device and comprising:
at least four accelerometers each having a center of mass, wherein the centers of mass do not lie within a single plane; and a manipulable device motion computer receiving input from the accelerometers and generating an output signal indicative of the motion of the manipulable de-vice.

20. Apparatus according to claim 19 wherein the manipulable device motion computer is operative to per-form the following steps:
recording actual acceleration data from the accelerometers;
generating predicted acceleration data on the basis of hypothetical angular motion information;
comparing the predicted acceleration data to the actual acceleration data;
computing improved hypothetical angular motion information;
while the predicted acceleration data differs significantly from the actual acceleration data, repeat-ing the generating, comparing and computing steps; and providing an output indication of the improved hypothetical angular motion information.

21. Apparatus according to any of claims 19 - 20 and also comprising an object manipulator receiving the output signal indicative of the motion of the manipulable device and manipulating an object in accordance there-with.

22. An information input method comprising;
sensing voluntary body motions and providing an output indication thereof;

utilizing said output indication for providing symbol outputs; and utilizing said output indication for providing motion control outputs.