| Summary: | This research presents a new biologically motivated robotic model of the human eye. The model incorporates aspects of the anatomy that are functionally important for understanding biological oculomotor systems. The 3DOF robotic eye is driven by 6 DC motors through low friction dyneema cables. The DC motors represent muscle actuation while dyneema cables represent the 6 extraocular muscles (EOM). The globe’s natural orbital support is emulated by a low-friction gimbal structure that supports the eye on the anteroposterior axis at the back of the globe, where there is no tendon interference. Moreover, we have used the Buckingham Π theorem dimensionless analysis to scale the geometric and dynamic properties of the biological eye according to the model’s specified dimensions and inertia. Lastly, to confirm the functionality of the eye and to verify that the initial design requirements have been satisfied, we have implemented a controller design to drive this redundant (6 actuators, 3 DOF) system.The presented robotic eye model is to be employed as a test bed for testing theories about oculomotor control. Furthermore, this system could also be used to assess proposed surgical corrections for various oculomotor diseases.
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