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International Conference on Intelligent Robotics and Applications

ICIRA 2017: Intelligent Robotics and Applications pp 280–289Cite as

A Real-Time Intent Recognition System Based on SoC-FPGA for Robotic Transtibial Prosthesis

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

Abstract

This paper presents the design and implementation of a real-time intent recognition hardware system for robotic transtibial prosthesis, based on system-on-chip and field-programmable gate array (SoC-FPGA). The proposed system integrates the software programmability of an ARM-based processor with the hardware programmability of an FPGA. A hardware prototype was developed and a SVM-based pattern recognition algorithm was implemented with high-level synthesis technology. Experiments on a transtibial amputee subject demonstrated that the proposed system costs shorter decision time in identifying four lower-limb movement phases (sitting, standing, sit-to-stand and stand-to-sit).

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (No. 91648207), the Beijing Municipal Science and Technology Project (No. Z151100000915073), and the Beijing Nova Program (No. Z141101001814001).

Author information

Authors and Affiliations

  1. The Robotics Research Group, College of Engineering, Peking University, Beijing, 100871, China

    Jingeng Mai, Zhendong Zhang & Qining Wang

  2. Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT), Peking University, Beijing, 100871, China

    Qining Wang

Authors
  1. Jingeng Mai
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  2. Zhendong Zhang
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  3. Qining Wang
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Corresponding author

Correspondence to Qining Wang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Mai, J., Zhang, Z., Wang, Q. (2017). A Real-Time Intent Recognition System Based on SoC-FPGA for Robotic Transtibial Prosthesis. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_27

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_27

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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