A fast robotic eye/head system: Eye design and performance

Author

Wagner, Ross ; Hunter, Ian W. ; Galiana, Henrietta L.

Author_Institution

Dept. of Biomed. Eng., McGill Univ., Montreal, QC, Canada

Volume

4

fYear

1992

fDate

Oct. 29 1992-Nov. 1 1992

Firstpage

1584

Lastpage

1585

Abstract

We describe here the initial stages in the design of a bin- ocular control system, to be mounted on a 3-D head controller. T his system is intended as a test-bed for the study of both robotic and biological gaze control. As in nature: (1) geometry relies on parallel actuators; (2) the visual sensor is mounted inside the eye to permit error-based control; (3) the intended use of an integrated (bilateral) control scheme to coordinate the trajectories of both eyes and the head. Results on the mechanical and sensory properties of the artificial eye are presented.

Keywords

actuators; biomechanics; biomedical equipment; eye; geometry; medical computing; medical control systems; medical robotics; vision; 3D head controller; artificial eye; binocular control system; biological gaze control; coordinate trajectories; error-based control; eye design; fast robotic eye-head system; integrated control scheme; mechanical properties; parallel actuators; sensory properties; visual sensor; Computers; Lasers; Neck;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1992 14th Annual International Conference of the IEEE

Conference_Location

Paris

Print_ISBN

0-7803-0785-2

Type

conf

DOI

10.1109/IEMBS.1992.5761936

Filename

5761936