Robophthalmotrope: Proposing a biologically inspired, mechatronic platform to study sensorimotor control

To further investigate theoretical concepts associated with sensorimotor control and brain-machine integration, the design and development of a robotic ophthalmotrope for the purpose of producing controlled, multidimensional eye and head movements is proposed. Central to this research is the implementation of a biomimetic, time-optimal, control strategy used to precisely orient two CCD cameras, each having three rotational degrees of freedom within a moving reference frame of the head, to rapidly acquire a target of interest and pursue its trajectory in real time. Unlike any of its predecessors, Robophthalmotrope will be the first intelligent mechatronic design to produce finely graded 3-D ocular rotations with the agonist and antagonist control actuation separately maintained. Moreover, it will be shown that the incorporation of a linear muscle model for biomimetic force generation is ideal for robotic applications. This work relies heavily on a unified framework for integrating a multitude of engineering disciplines in conjunction with anatomical and physiological evidence to achieve a common thread of concurrent, mixed-system design. The multidisciplinary nature of this project benefits a number of important research areas. First, insight pertaining to 3-D oculomotor control and the diagnosis of pathological disorders such as strabismus can be further investigated. Second, it provides a guideline on how linearized, physiological models can serve as a basis for controlled actuation in robotic applications. Third, humanlike motor movements have important implications in the field of service and sociable robotics. Finally, through the development of Robophthalmotrope's biomimetic neuromuscular control strategy, a new generation of brainmachine interface technology could be developed for the prospect of novel prosthetic device design.