Biswas, D, Ye, Z, Mazomenos, EB orcid.org/0000-0003-0357-5996 et al. (2 more authors) (2018) CORDIC Framework for Quaternion-based Joint Angle Computation to Classify Arm Movements. In: 2018 IEEE International Symposium on Circuits and Systems (ISCAS). 2018 IEEE International Symposium on Circuits and Systems (ISCAS), 27-30 May 2018, Florence, Italy. IEEE ISBN 978-1-5386-4881-0
Abstract
We present a novel architecture for arm movement classification based on kinematic properties (joint angle and position), computed from MARG sensors, using a quaternion-based gradient-descent method and a 2-link model of the upper limb. The design based on Coordinate Rotation Digital Computer framework was validated on stroke survivors and healthy subjects performing three elementary arm movements (reach and retrieve, lift arm, rotate arm), involved in `making-a-cup-of-tea' an archetypal daily activity, achieved an overall accuracy of 78% and 85% respectively. The design coded in System Verilog, was synthesized using STMicroelectronics 130 nm technology, occupies 340K NAND2 equivalent area and consumes 292 nW @ 150 Hz, besides being functionally verified up to 25 MHz making it suitable for real-time high speed operations. The orientation, arm position and the joint angle, are computed on-the-fly, with the classification performed at the end of movement duration.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 05 Mar 2020 14:46 |
Last Modified: | 20 Mar 2020 02:26 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/iscas.2018.8350967 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:158068 |