Project Description: Ocular mobility disorders such as strabismus affect millions of people. Patients’ descriptions of their symptoms, such as what they see and how their vision has changed, are important for ophthalmologists to diagnose, monitor progression, and evaluate treatment effectiveness. However, such verbal depiction may be vague and subjective.
Engineering tools from imaging to computational models have been developed and utilized to advance our understanding of the eye biomechanics. In particular, physical systems that mimic human eyes have unique characteristics to obtain new knowledge on coordinated eye movement. In this project, we aim to develop novel artificial muscle-driven robotic eyes that are able to realistically mimic binocular eye movement, to better study human eyes.
Super Coiled Polymer driven robot eye
Using eye robot to dispaly what patients see
Related Publications:
- Sunil Kumar Rajendran, Qi Wei, Ningshi Yao and Feitian Zhang, “Design, Implementation, and Observer-based Output Control of a Super-coiled Polymer-Driven Two Degree-of-Freedom Robotic Eye,” in IEEE Robotics and Automation Letters, 2023.
- Yidi Huang, Qi Wei, Joseph L Demer, and Ningshi Yao, “See What a Strabismus Patient Sees Using Eye Robots”, in Proc. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4627-4632, Detroit, Michigan, 2023.
- Sunil Kumar Rajendran, Qi Wei, Ningshi Yao and Feitian Zhang, “Observability Analysis and Reduced-Order Observer Design for a Super-Coiled Polymer-Driven Robotic Eye”, in Proc. 2022 IEEE Conference on Decision and Control (CDC), 1385-1391, Cancun, Mexico, 2022.
- Sunil Kumar Rajendran, Qi Wei, Ningshi Yao and Feitian Zhang, “Modeling and Learning-Based Control for Super-Coiled Polymer-Driven Robotic Eye,” in Proc. 2022 American Control Conference (ACC), 3361-3361, Atlanta, GA, USA, 2022.