両眼眼球運動制御メカニズムの数学モデルと視軸制御システムの構築 Mathematical Model for Binocular Movements Mechanism and Construction of Eye Axes Control System

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著者

    • 張 暁林 ZHANG Xiaolin
    • 東京医科歯科大学大学院保健衛生学研究科 Graduate School of Allied Health Sciences, Tokyo Medical and Dental University

抄録

A binocular motor control model based on the anatomic structure and physiological function of the brainstem is proposed. The simple control system of the model can realize vergence and conjugate eye movements, including smooth pursuit, optokinetic eye movements, and vestibular oculomotor reflex. The principles of vergence and conjugate eye movements are studied by analyzing the model from the viewpoint of system control engineering. Neural structures such as crossing image feedback pathways, which are not commonly found in system control engineering, are confirmed to play an important role in binocular motor control. The relationship of the neural pathway gains is obtained from the stability conditions of the model.<BR>As an application of the proposed model, an eye axis control system structured like the synthesized binocular motor model is implemented. In this eye axis control system, some characteristics existing in human eyes but not in conventional robot eyes are confirmed, including: (1) Both eyes can easily gaze at the same point simultaneously. (2) If one eye is closed or blocked by an obstacle, it will follow the movement of the other eye so that the obstructed eye can quickly find the target viewed by the other eye when the obstacle is removed.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(1), 89-97, 2002-01-15

    The Robotics Society of Japan

参考文献:  13件中 1-13件 を表示

被引用文献:  4件中 1-4件 を表示

各種コード

  • NII論文ID(NAID)
    10008212844
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6042479
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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