A control theoretic model of the combined planar motion of the human head and eye

摘要

In this article we investigate the problem of how to model and control the combined motion of the human head and eye. We develop a model of the muscles, based on a simplified physical model and an assumption that the muscles can be modeled as damped springs with a second order linear dynamics. We then find control laws that both make the combined pupil-movement follow a given trajectory, and make the separate head and eye trajectories three times continuously derivable. Our controls also make the energy produced in the movement small, since we believe that to be a reasonable, physical control-criterion.