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The concept of intelligent toothbrush, capable of monitoring brushing motion, orientation through the grip axis, during toothbrushing was suggested in our previous study. In this study, we describe a tooth brushing pattern classification algorithm using three-axis accelerometer and three-axis magnetic sensor. We have found that inappropriate tooth brushing pattern showed specific moving patterns. In order to trace the position and orientation of toothbrush in a mouth, we need to know absolute coordinate information of toothbrush. By applying tilt-compensated azimuth (heading) calculation algorithm, which is generally used in small telematics devices, we could find the inclination and orientation information of toothbrush. To assess the feasibility of the proposed algorithm, 8 brushing patterns were preformed by 6 individual healthy subjects. The proposed algorithm showed the detection ratio of 98%. This study showed that the proposed monitoring system was conceived to aid dental care personnel in patient education and instruction in oral hygiene regarding brushing style.