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

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.