Simulation and design of 3-DOF eye mechanism using Listing’s law

A. Mehmood, B. Camescasse, F. Ouezdou, G. Cheng
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引用次数: 7

Abstract

This paper presents the simulation of an eye mechanism by implementing Listingpsilas law. Based on these results an eye model has been designed to produce all movements a human eye can have. Saccadic and smooth pursuit movements can be achieved by pan and tilt mechanism while roll movements are also important for VOR, vergence and optokinetic reflexes. Eye plant model has been created to produce all eye movements. Realization of listingpsilas law is necessary for saccadic and smooth pursuit movements. By simulation we show that position of insertion points on an eye ball and placement of pulleys on a tendon driven robot eye are important to mechanically implement listingpsilas law. Integration of roll movement is only important if saccadic and smooth pursuit movements obey listingpsilas law, without effected by this roll movement. The paper discusses constrains and simulation results of 3D rotational motion based on the conditions for listingpsilas law.
基于李氏定律的三自由度眼机构仿真与设计
本文采用Listingpsilas定律对一个眼机制进行了仿真。基于这些结果,我们设计了一个眼睛模型来模拟人眼的所有运动。平移和倾斜机制可以实现跳跃和平滑的追踪运动,而翻滚运动对VOR、收敛和光动反射也很重要。眼睛植物模型已经被创建来产生所有的眼球运动。实现排样规律是实现快速、流畅的追迹运动的必要条件。仿真结果表明,眼球上插入点的位置和滑轮在肌腱驱动机器人眼上的位置对于机械地实现排样定律是非常重要的。滚动运动的整合只有在跳跃和平滑的追逐运动服从列体规律,而不受滚动运动的影响时才重要。本文讨论了三维旋转运动的约束条件,并给出了三维旋转运动的仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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