Performance analysis of hardware acceleration for locomotion mode recognition in robotic prosthetic control

Abstract

This paper aims to analyze computing performance of an on-board locomotion mode recognition system which was designed for robotic transtibial prosthesis. A hard-ware prototype based on field-programmable gate array was developed. Several algorithms, including support vector machine, back-propagation neural network, quadratic discriminant analysis and linear discriminant analysis, were implemented on board. Experiments on a transtibial amputee subject demonstrated that the proposed system can provide satisfactory acceleration effects on the four applied algorithms.