The invention relates to a method for recognizing handwriting on a physical surface on the basis of three-dimensional signals originating from sensors of a terminal, the method being characterized in that the signals are obtained on the basis of at least 3 different types of sensors, and in that it comprises steps of sampling, according to 3 axes and over a sliding time window, of inertial signals originating from the sensors, fusing the sampled signals into a 9-dimensional vector for each sampling period, converting the fused signals into a sequence of characteristic 9-dimensional vectors, and, when a signal characteristic of an input start has been detected, storing the sequence of characteristic vectors in a list of sequences of characteristic vectors, the preceding steps being repeated until the detection of a signal characteristic of an input end, the method furthermore comprising, on detection of said signal characteristic of an input end, a step of recognizing a word on the basis of the list of sequences of characteristic vectors created over the time window.