A unified adaptive oculomotor control model

Zhang, Xiaolin; Wakamatsu, Hidetoshi

doi:10.1002/acs.629

Cited by 28 publications

(11 citation statements)

References 19 publications

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“…Reference 12 extended the work of Ref. 11 to a binocular control model that integrates smooth pursuit, saccade, VOR and OptoKinetic Response (OKR). However, all these methods did not take vergence eye movements into consideration, therefore the binocular aspect is not fully explored.…”

Section: Related Workmentioning

confidence: 99%

An Advanced Active Vision System with Multimodal Visual Odometry Perception for Humanoid Robots

Wang

Jonker

2017

Int. J. Human. Robot.

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Using active vision to perceive surroundings instead of just passively receiving information, humans develop the ability to explore unknown environments. Humanoid robot active vision research has already half a century history. It covers comprehensive research areas and plenty of studies have been done. Nowadays, the new trend is to use a stereo setup or a Kinect with neck movements to realize active vision. However, human perception is a combination of eye and neck movements. This paper presents an advanced active vision system that works in a similar way as human vision. The main contributions are: a design of a set of controllers that mimic eye and neck movements, including saccade eye movements, pursuit eye movements, vestibuloocular re°ex eye movements and vergence eye movements; an adaptive selection mechanism based on properties of objects to automatically choose an optimal tracking algorithm; a novel Multimodal Visual Odometry Perception method that combines stereopsis and convergence to enable robots to perform both precise action in action space and scene exploration in personal space. Experimental results prove the e®ectiveness and robustness of our system. Besides, the system works in real-time constraints with low-cost cameras and motors, providing an a®ordable solution for industrial applications.

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Section: Related Workmentioning

confidence: 99%

An Advanced Active Vision System with Multimodal Visual Odometry Perception for Humanoid Robots

Wang

Jonker

2017

Int. J. Human. Robot.

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“…Second all the transfer functions in the oculomotor system model are considered as linear [8] [9]. Third, the time delays caused by the image processing in the visual cortex, the signal transmission in nerves and others are neglected [9].…”

Section: Modeling For Oculomotor Control Systemmentioning

confidence: 99%

Modeling and Simulation of the Oculomotor Control System

Zou

2008

2008 2nd International Conference on Bioinformatics and Biomedical Engineering

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Firstly, the oculomotor characteristics and form of human eye are analyzed. Then, based on the human eye anatomical and physiological research, an oculomotor control system model for a single eye is developed according to the oculomotor neural paths. The simulation experiments are done on Matlab6.5 under the same condition as the physiological experiments. Comparisons with the results of physiological experiments show that the model can realize VOR (vestibuloocular reflex), OKR (optokinetic reflex), smooth pursuit and compound movement of human eye.

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“…K e =1deg/spikess-1, T e =0.24s. The part between vestibular nucleus and oculomotor nucleus or abducent nucleus can be viewed as an incomplete neural integrator [4], therefore the transfer function from vestibular nucleus to medial rectus and lateral rectus could be expressed as the sum of an incomplete neural integrator and a direct path which can be expressed as (3):…”

Section: B Establishment Of Transfer Function For Eye Motion Controlmentioning

confidence: 99%

Bionic eye system based on fuzzy adaptive PID control

Zhou

Luo

et al. 2012

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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The core of building bionic eye system is to imitate the function of human eye neural circuit so as to design the corresponding control strategy. In this paper, fuzzy adaptive PID control method is adopted to realize the function similar to vestibular nucleus'. Besides, the transfer function of controlled object is established according to medical research so as to determine the variation range of PID parameters in MATLAB environment. In the end, this control strategy is applied to the real bionic eye system based on the spherical parallel mechanism and plenty of experiments are conducted which show quick-response performance and robustness of the control system that conforms to human eye motion control mechanism.

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A unified adaptive oculomotor control model

Cited by 28 publications

References 19 publications

An Advanced Active Vision System with Multimodal Visual Odometry Perception for Humanoid Robots

An Advanced Active Vision System with Multimodal Visual Odometry Perception for Humanoid Robots

Modeling and Simulation of the Oculomotor Control System

Bionic eye system based on fuzzy adaptive PID control

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