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CORDIC Framework for Quaternion-based Joint Angle Computation to Classify Arm Movements

Biswas, D; Ye, Z; Mazomenos, EB; Jobges, M; Maharatna, K; (2018) CORDIC Framework for Quaternion-based Joint Angle Computation to Classify Arm Movements. In: Proceedings of the 2018 IEEE International Symposium on Circuits and Systems (ISCAS). IEEE: Florence, Italy. Green open access

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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.

Type: Proceedings paper
Title: CORDIC Framework for Quaternion-based Joint Angle Computation to Classify Arm Movements
Event: IEEE International Symposium on Circuits and Systems (ISCAS), 27–30 May 2018, Florence, Italy
Location: Florence, ITALY
Dates: 27 May 2018 - 30 May 2018
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ISCAS.2018.8350967
Publisher version: https://doi.org/10.1109/ISCAS.2018.8350967
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: MARG sensor, activity recognition, quaternion, CORDIC, classification
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10114584
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