International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Three-Degree-of-Freedom Anthropomorphic Oculomotor Simulator

  • Bang Young-Bong (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Paik Jamie K. (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Shin Bu-Hyun (School of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee Choong-Kil (Department of Psychology, Seoul National University)
  • Published : 2006.04.01
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Abstract

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

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