Hi Farhad,
Mbed TLS currently supports hardware acceleration through alternative implementations of the corresponding modules or functions. See https://tls.mbed.org/kb/development/hw_acc_guidelines . This mechanism is available for symmetric cryptography and partially for RSA and ECC.
There is some work in progress on a new mechanism for hardware acceleration through the psa_xxx() API, which will be available for all algorithms. You can follow the work in progress on the “Unified driver interface: API design and prototype” epic at https://github.com/ARMmbed/mbedtls/projects/2#column-8543266 .
Hope this helps,