Design of Three-Degrees-of-Freedom Bionic Eye Driven by Artificial Muscle Based on the Law of Human Eye Movement
Hengyu Li, Kaidi Hou, Yonghao Xie, Jingyi Liu, Shaorong Xie · Journal of Mechanisms and Robotics · 2025
Abstract This article designs and implements a three-degrees-of-freedom artificial muscle bionic eye structure, aiming to simulate the motion characteristics of the human eye. Inspired by the extraocular muscles, the bionic eye’s extraocular muscles are constructed using silicone and flexible cords, and the flexible equation of the extraocular muscles is determined through tensile experiments. Based on Listing’s law, this article conducts an in-depth analysis of eye movement patterns, establishes a mathematical model for eye movements, and determines the insertion and control points of the extraocular muscles that satisfy Listing’s law. Furthermore, through forward and inverse kinematics analyses of the bionic eye system, this article proposes a mathematical relationship between the length changes of the extraocular muscles and the final pose of the eyeball, providing a theoretical foundation for precise control and trajectory planning of the bionic eye. To verify the effectiveness of the model, a prototype of the bionic eye is designed and constructed for experimentation. Experimental results demonstrate that the bionic eye system exhibits high accuracy in continuous reciprocating motions, and in the ”8”-shaped trajectory tracking experiment, the average error between the actual motion trajectory and the theoretical trajectory is only 5.07%, validating the correctness and effectiveness of the bionic eye design. This study provides an important reference for the development of artificial muscle-driven bionic eyes.