Bionic eye movement control devices, methods and robots

Abstract

This application discloses a biomimetic eye movement control device, method, and robot, belonging to the field of biomimetic robot technology. The device includes multiple flexible electro-actuators, comprising an electro-actuating material that actively deforms under electric field excitation. One end of each flexible electro-actuator is fixed and connected to a support body, while its free end, having a driving displacement or driving force, is directly or indirectly connected to the functional parts of the eye to drive the eyeball shell to rotate and / or drive the eyelids to open and close. A passive constraint structure is also included, configured to provide anisotropic mechanical constraints on the active deformation of the flexible electro-actuators, thereby guiding and converting the active deformation into a driving displacement or driving force along a first preset direction. This solution achieves compact, compliant, low-noise, and highly biomimetic eye coordination control, applicable to humanoid robots, service robots, and human-computer interaction fields.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, specifically to a bionic eye movement control device, method, and robot. Background Technology

[0002] Eyes are key nonverbal signals that convey attention, emotions, and intentions. Giving robots realistic and natural eye movements is of great significance for enhancing the immersion and friendliness of human-computer interaction.

[0003] Currently, the actuation of robot eyeballs and eyelids mainly relies on rigid or quasi-rigid actuators such as micro servo motors, stepper motors, or pneumatic systems, and transmission mechanisms such as gears, linkages, worm gears, or ropes. While such technical solutions can achieve basic orientation functions, they have the following inherent limitations when applied to robots with high anthropomorphic requirements:

[0004] First, the drive and transmission structures are complex, bulky, and heavy, making it difficult to achieve high-density integration of multiple degrees of freedom within the limited eye socket space of a bionic robot, which restricts the expansion of the range of motion and the miniaturization of the structure.

[0005] Secondly, the meshing of rigid gears and the operation of the motor inevitably produce audible noise and mechanical vibration, which is particularly prominent in close-range human-computer interaction scenarios, seriously affecting the authenticity and comfort of the interactive experience.

[0006] Furthermore, its motion output is usually discrete, step-like position control, with stiff and abrupt motion trajectories, lacking the smoothness and dynamic continuity unique to biological eye movements, making the robot's gaze appear mechanical and rigid.

[0007] Finally, this type of control architecture based on simple position servoing is unable to reproduce the subtle physiological micro-tremors, smooth tracking and dynamic switching between saccades, and the subtle fatigue relaxation effect after prolonged fixation in human eye movements, which limits the depth and naturalness of the robot's emotional expression.

[0008] Therefore, there is an urgent need in this field for a comprehensive innovation that can address the above problems by innovating from the driving principle and structural form to the control strategy, and achieve a highly biomimetic, quiet, compliant and intelligent robot eye movement solution. Summary of the Invention

[0009] To address the aforementioned technical problems, this application provides a bionic eye movement control device, method, and robot.

[0010] In a first aspect, this application provides a bionic eye movement control device for use in a robotic bionic eye. The robotic bionic eye includes a carrier and an eye functional part, including an eyeball shell and / or an eyelid. The bionic eye movement control device includes: a plurality of flexible electro-actuators, including an electro-actuating material that actively deforms under electric field excitation. One end of each flexible electro-actuator is connected to the carrier as a fixed end, and its free end, having a driving displacement or driving force, is directly or indirectly connected to the eye functional part to drive the eyeball shell to rotate and / or drive the eyelid to open and close; and a passive constraint structure configured to provide anisotropic mechanical constraints on the active deformation of the flexible electro-actuators, thereby guiding and converting the active deformation into a driving displacement or driving force along a first preset direction.

[0011] In one possible implementation, the flexible electro-actuator includes a driving layer, a first flexible electrode layer, and a second flexible electrode layer stacked together; the driving layer is made of the electro-actuating material; the first flexible electrode layer and the second flexible electrode layer are respectively disposed on both sides of the driving layer to apply a driving electric field; wherein, the passive constraint structure is coupled to the flexible electro-actuator or the driving layer.

[0012] In one possible implementation, the passive constraint structure is a structure with anisotropic stiffness, the anisotropic stiffness structure comprising at least one of the following: a mesh structure constraint layer configured such that its equivalent tensile stiffness in the first preset direction is lower than its equivalent tensile stiffness in at least one other direction; a sheet-like intrinsic anisotropic material layer configured such that its Young's modulus in the first preset direction is lower than its Young's modulus in at least one other direction; and discrete rigid constraint elements distributed in a chain-like or strip-like manner along the first preset direction, thereby forming a continuous constraint path in a direction perpendicular to the first preset direction.

[0013] In one possible implementation, the passive constraint structure is a fiber-reinforced layer comprising reinforcing fibers arranged along a second preset direction.

[0014] In one possible implementation, the passive constraint structure is integrated with the first flexible electrode layer and / or the second flexible electrode layer to form a composite functional layer that simultaneously possesses conductivity and anisotropic constraint functions.

[0015] In one possible implementation, the flexible electro-actuator includes one or more inner cores made of the electro-actuating material and a spiral or mesh flexible electrode layer surrounding the inner core; and the passive constraint structure includes a constraint guide sheath layer woven from high-strength fibers covering the outside of the flexible electro-actuator; wherein the flexible electro-actuator is linear and has a circular or elliptical cross-section.

[0016] In one possible implementation, the passive constraint structure is comprised of a portion of a support structure that houses the flexible electro-actuator, which provides the anisotropic mechanical constraint on the deformation of the flexible electro-actuator through its physical form.

[0017] In one possible implementation, multiple flexible electroactuators are configured to collaboratively drive the eyeball shell to perform rotational motion in at least two degrees of freedom.

[0018] In one possible implementation, when the number of the plurality of flexible electro-actuators is three or more, they are configured to drive the eyeball shell to achieve rotational motion with three degrees of freedom.

[0019] In one possible implementation, when the number of the plurality of flexible electroactuators is six, they are configured to simulate the anatomical topology of the six extraocular muscles of the human eye to construct three sets of spatial antagonistic pairs.

[0020] In one possible implementation, the plurality of flexible electroactuators are connected to the eyeball shell via bionic tendons.

[0021] In one possible implementation, the flexible electro-actuator further includes a passive constraint layer coupled to the drive layer, configured to convert the deformation of the drive layer in the thickness direction into bending motion of the flexible electro-actuator along its length direction to drive eyelid opening and closing.

[0022] In one possible implementation, the eyelid includes an upper eyelid and a lower eyelid, each driven by at least one of the flexible electro-actuators containing the passive constraint layer.

[0023] In one possible implementation, the flexible electro-actuator itself constitutes the main structure of the eyelid.

[0024] In one possible implementation, the passive constraint layer includes reinforcing material arranged in a second preset direction, which is parallel to the tangent direction of the arcuate contour of the eyelid or forms a preset acute angle with the length direction of the flexible electro-actuator.

[0025] In one possible implementation, the device further includes a deformation sensor for detecting deformation or position of the flexible electro-actuator or the eye function.

[0026] In one possible implementation, the device further includes a controller electrically connected to the flexible electro-actuator for closed-loop control based on the target motion command and the deformation information of the flexible electro-actuator.

[0027] In one possible implementation, the device further includes an environmental sensor for sensing external light and / or sensing the proximity of surrounding objects; wherein the plurality of flexible electro-actuators are further configured to trigger the eyelids to perform a protective closing action when the environmental sensor senses that the light intensity of the external light is greater than a light intensity threshold or the proximity of the surrounding objects is less than a preset distance.

[0028] Secondly, this application provides a bionic eye movement control method applied to the device provided in the first aspect, the method comprising:

[0029] Receive eye movement commands;

[0030] Based on the pre-stored motion model, the eye movement command is parsed into a coordinated drive signal for multiple flexible electro-actuators;

[0031] Based on the aforementioned collaborative driving signal, each flexible electro-actuator is controlled to generate driving displacement or deformation under the guidance of the passive constraint structure, so as to drive the eye functional parts to generate corresponding eyeball movement and / or eyelid movement.

[0032] Thirdly, this application provides a robot that integrates the bionic eye movement control device provided in the first aspect.

[0033] The bionic eye movement control device provided in this application applies an electric field to multiple flexible electro-actuators, exciting the electro-actuating materials inside them to undergo active deformation. A passive constraint structure then applies anisotropic mechanical constraints to this deformation, guiding it and converting it into a driving displacement or driving force along a first preset direction. This, in turn, directly or indirectly drives the eyeball shell to achieve rotational movement and / or the eyelids to achieve opening and closing movements via the free ends of the electro-actuators. This process utilizes the direct driving characteristics of the flexible electro-actuators, combined with the guiding effect of the passive constraint structure, making eye movement control more precise and efficient. It also avoids the complex structure and frictional losses of traditional rigid transmission mechanisms. The flexibility of the material also makes the movement smoother and closer to the natural movement of a biological eye, significantly improving the realism and reliability of the robot's bionic eye. Furthermore, this technical solution overcomes the shortcomings of existing technologies that rely on rigid transmission systems such as motors and gears, resulting in complex structures, bulky size, stiff movements, and significant noise. By employing flexible electro-actuators for direct drive, the complex intermediate transmission mechanism is eliminated. Combined with a passive constraint structure, directional deformation transformation is achieved, resulting in a compact structure, rapid motion response, and precise control of the entire device. Simultaneously, the inherent flexibility of the flexible material imparts smoother and more human-like dynamic performance to eyeball rotation and eyelid opening and closing, significantly improving biomimicry realism and reliability, while also offering advantages such as low noise and low energy consumption. Attached Figure Description

[0034] Figure 1 A schematic diagram of the structure of a bionic eye movement control device provided in one embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the layered structure of a flexible electric actuator provided in one embodiment of this application;

[0036] Figure 3 A schematic diagram of a driving unit for a composite functional structure provided in one embodiment of this application;

[0037] Figure 4 A three-dimensional distribution diagram of three flexible electric actuators provided in one embodiment of this application;

[0038] Figure 5 A schematic diagram illustrating the distribution of six extraocular muscles using a flexible electro-actuator provided in one embodiment of this application;

[0039] Figure 6 This is a schematic diagram of a flexible electric actuator driving eyelid opening and closing according to one embodiment of this application;

[0040] Figure 7 A schematic diagram of the distribution of flexible electro-actuators for driving the upper and lower eyelids, provided as an embodiment;

[0041] Figure 8 This is a flowchart of a bionic eye movement control method provided in one embodiment of this application. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are for illustrative purposes only and are not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0043] The technical solution provided in this application addresses the core problem of uncontrollable output direction in biomimetic actuation of flexible electro-actuators through its core component, the "passive constraint structure." Specifically, the passive constraint structure applies spatially anisotropic mechanical constraints to the active deformation of the flexible electro-actuator material under an electric field. This structure provides low constraint stiffness in the desired output direction (preset direction), allowing the material to deform relatively freely along that direction; while in other directions, it provides extremely high constraint stiffness, strongly suppressing undesirable deformation. Through this intelligent "guidance and suppression," the potentially disordered expansion energy of the material is efficiently and reliably converted into macroscopic mechanical output (linear driving force or bending torque) along a specific direction, thereby achieving directional and controllable actuation comparable to biological muscles.

[0044] The following describes in detail the bionic eye movement control device provided in the embodiments of this application with reference to the accompanying drawings.

[0045] Figure 1 This is a schematic diagram of the structure of a bionic eye movement control device provided in one embodiment of this application.

[0046] Referring to FIG1, the bionic eye movement control device 10 may include a plurality of flexible electro-actuators 101 and a passive constraint structure 102.

[0047] It should be noted that Figure 1 The bionic eye movement control device provided in the illustrated embodiment can be applied to a robotic bionic eye, wherein the robotic bionic eye may include a carrier and an eye functional part, the eye functional part may include an eyeball shell and / or an eyelid. In other embodiments, the bionic eye movement control device provided in some embodiments of this application includes... Figure 1 Based on the multiple flexible electro-actuators 101 and passive constraint structure 102 shown, a carrier and an eye function unit may also be included, which may include an eyeball shell and / or an eyelid. This provides a biomimetic eye movement control device with a controlled object (i.e., an eye function unit).

[0048] Among them, multiple flexible electro-actuators include electro-actuating materials that undergo active deformation under electric field excitation. One end of the flexible electro-actuator is connected to the carrier as a fixed end, and its free end with driving displacement or driving force is directly or indirectly connected to the eye functional part to drive the eyeball shell to rotate and / or drive the eyelid to open and close.

[0049] Specifically, under the excitation of an electric field, the flexible electro-actuator's internal electro-actuating material undergoes active deformation. This deformation is converted into linear or bending displacement and driving force at the free end through a cantilever beam structure, where one end is fixed to a support and the other end is a free end. This free end can directly pull the eyeball shell or eyelid through a physical connection, or indirectly transmit the drive through an intermediate connector. Thus, by utilizing the coordinated or independent actions of multiple electro-actuators, the eyeball shell can be pulled to rotate around its rotation center to achieve multi-directional gaze, and / or the eyelids can be pulled to open and close to achieve blinking or protective actions. With this structure, the driving and transmission functions can be integrated into the flexible body itself, eliminating the complex transmission chains of traditional rigid motors, gears, and linkages. This makes the eye motion control structure extremely simplified, compact, and lightweight, while achieving millisecond-level fast response, silent operation, and highly human-like compliant and smooth motion trajectories, significantly improving the dynamic realism and reliability of the robot's bionic eye.

[0050] The passive constraint structure is configured to provide anisotropic mechanical constraints on the active deformation of the flexible electric actuator, thereby guiding the active deformation and converting it into a driving displacement or driving force along a first preset direction.

[0051] Specifically, the passive constraint structure achieves its function through a specific mechanical design. By restricting material deformation in directions perpendicular to or unrelated to the first preset direction (i.e., providing high stiffness), while allowing or minimally hindering deformation in the first preset direction (i.e., providing low stiffness), it applies anisotropic mechanical constraints to the inherent, potentially multi-directional, active deformation of the electro-actuated material under an electric field. This structure efficiently guides and focuses the originally disordered or imprecise deformation into a pure and amplified driving displacement or driving force along a single predetermined direction (i.e., the direction required to drive eyeball rotation or eyelid opening and closing). This approach fundamentally ensures the directional accuracy and energy utilization efficiency of the driving output, enabling stable and reliable eye movements through simple open-loop electrical signal control without the need for a complex closed-loop feedback system to correct directional deviations. This significantly simplifies the control system, improves response speed, and guarantees the consistency and repeatability of the movement.

[0052] based on Figure 1 The bionic eye motion control device provided in the illustrated embodiment begins by applying an electric field to multiple flexible electroactuators, causing active deformation of their internal electroactimetric materials. A passive constraint structure then applies anisotropic mechanical constraints to this deformation (e.g., limiting deformation in the non-driving direction through an internal reinforcing layer or external guide, while allowing deformation in the driving direction), thereby orienting and guiding the deformation and converting it into efficient driving displacement or driving force along a first preset direction. This driving force is directly pulled or indirectly transmitted to the eye functional parts through the free ends of the electroactuators, ultimately driving the eyeball shell to rotate around an axis to achieve multi-directional motion, and / or driving the eyelids to perform opening and closing actions. Overall, this solution achieves integrated driving, transmission, and guidance through the synergistic effect of flexible electroactimetry and passive constraints. It not only completely overcomes the shortcomings of traditional rigid transmission systems, such as complex structure, bulky size, stiff movement, and high noise, but also gives the device a comprehensive advantage of compact structure, rapid response, precise control, smooth movement, and low energy consumption, significantly improving the dynamic realism and reliability of the robot's bionic eye.

[0053] Figure 2 This is a schematic diagram of the layered structure of a flexible electric actuator provided in one embodiment of this application.

[0054] Reference Figure 2 As shown, in some embodiments, the flexible electric actuator includes a driving layer 20a, a first flexible electrode layer 20b, and a second flexible electrode layer 20c stacked together. The first flexible electrode layer and the second flexible electrode layer are respectively disposed on both sides of the driving layer to apply a driving electric field.

[0055] In one embodiment, the driving layer is made of an electro-actuating material, specifically a flexible electro-actuating material.

[0056] In one embodiment, the passive constraint structure is coupled to the flexible electro-actuator or the driving layer, and the coupling method between the passive constraint structure and the flexible electro-actuator or the driving layer is the same or similar, as follows:

[0057] I. Embedded or composite coupling

[0058] In current coupling structures, the passive constraint structure and the corresponding materials of the driving layer (or flexible electro-actuator) are interwoven or composited during manufacturing to form a functional whole. For example, this could be a fiber-reinforced / woven constraint layer, specifically, high-strength, low-elongation fibers (such as carbon fiber, Kevlar fiber, or metal wire) can be embedded or woven along a specific direction (non-isotropic) on or inside the surface of a sheet-like or columnar dielectric elastomer (driving layer). These fiber networks constitute the passive constraint structure.

[0059] In the current coupling structure, when a flexible electro-actuator attempts to expand uniformly in a plane under electric field excitation, the fiber network, due to its specific orientation, only allows for large strain along the direction perpendicular to the fibers. This transforms the two-dimensional in-plane expansion into a significant contraction or bending in a single direction. The direction of deformation output can be controlled by pre-setting the fiber arrangement pattern (e.g., unidirectional, double-helix, radial). The passive constraint structure and the driving layer (or flexible electro-actuator) are combined at the microscopic level, with no relative sliding, direct energy transfer, and the ability to achieve rapid and precise directional deformation output.

[0060] II. Laminated or assembled coupling

[0061] In the current coupling structure, the layered passive constraint structure and the driving layer are physically bonded together as independent thin layers to work together. For example, this laminated structure can be an asymmetric laminated structure, in which a flexible thin sheet with asymmetric mechanical properties is bonded as a constraint layer to one or both sides of the driving layer (such as a dielectric elastomer film). For example, one side is bonded with a thin sheet with low elongation but flexibility (such as polyimide), while the other side remains free or is bonded with an elastomer.

[0062] In the current coupled structure, when a flexible electro-actuator is excited by an electric field, the driving layer attempts to expand. The extendable side deforms freely, while the non-extendable side (constraint layer) greatly restricts strain in that direction, causing the entire structure to only curl or bend towards the free side. The constraint layer and the driving layer are tightly "coupled" through adhesives or physical clamping, jointly determining the deformation mode. Efficient bending actuation can be easily achieved by using constraint layers of different stiffness on one or both sides of the electro-actuator.

[0063] III. Shell or Frame-Type Coupling

[0064] In the current coupling structure, the passive constraint structure acts as a prefabricated shell or skeleton with a specific geometry, encapsulating or embedding the driving layer within it. For example, it can be a flexible shell with a pre-defined deformable cavity; specifically, the driving layer is wrapped in a flexible shell cast from silicone or polymer. The shell's wall thickness is non-uniform, or its interior is designed with reinforcing ribs and cavities with specific orientations.

[0065] In the current coupling structure, when the driving layer expands, its deformation is mechanically constrained by the shape of the outer shell. The direction where the walls are thin or the cavity is located is more prone to expansion deformation, thus being "guided" to the predetermined deformation direction. The outer shell itself is a passive constraint structure, "coupled" to the driving layer through interference fit or bonding. This shell not only provides constraint but also protects the brittle electrodes and electro-actuated materials from physical damage and environmental influences.

[0066] IV. Integrated Topological Coupling

[0067] In current coupled structures, the boundary between the passive constraint structure and the driving layer merges at the material or structural topology level. For example, a component can be fabricated using 3D printing or multimaterial forming techniques, where the material stiffness or microstructure exhibits spatial gradient variations or anisotropic distribution. The softer regions act as the "driving region," while the harder regions or those with specific oriented microstructures act as the "constraint region."

[0068] In the current coupled structure, when a flexible electro-actuator responds holistically to an electric field, the active deformation of the "driving region" is directly limited by the mechanical properties of the materials in the adjacent "constraint regions," resulting in directional macroscopic deformation. Constraint and driving are integrally coupled in terms of materials and structure, and cannot be physically separated. This allows for the design of regions with continuously varying stiffness, achieving smoother, more natural deformations that more closely resemble those of biological tissues.

[0069] In some embodiments, the passive constraint structure is a structure with anisotropic stiffness, used to achieve anisotropic mechanical constraints. The anisotropic stiffness structure includes at least one of the following: a mesh structure constraint layer configured to have a low equivalent tensile stiffness in the first preset direction; a sheet-like intrinsically anisotropic material layer; and discrete rigid constraint elements distributed along the preset direction.

[0070] In one embodiment, anisotropic mechanical constraints can be achieved by composite materials, such as directional embedding of high-modulus fibers or films in a flexible matrix, to form a laminated structure that is difficult to stretch in a specific direction but easy to deform in the vertical direction.

[0071] In another embodiment, microstructural design, such as machining periodically arranged corrugations, grooves, or honeycomb-like holes into the material, can be used to make it exhibit distinctly different resistance to deformation in different directions, thus achieving anisotropic mechanical constraints. Other shapes are also possible in other embodiments, and this application does not limit the shape.

[0072] In another implementation, anisotropic mechanical constraints can be achieved by directly constructing a mechanical device that allows movement in a specific direction while restricting movement in other directions through macroscopic mechanical structures such as hinges, flexible joints, or asymmetric grid frames.

[0073] The anisotropic mechanical constraints provided by the structures with anisotropic stiffness in the above-described embodiments can directly determine whether the final output is linear force, torque or bending force, thereby replacing complex multi-motor coordination or precise motion control algorithms in a simple and reliable purely mechanical way.

[0074] In some embodiments, the structure having anisotropic stiffness is a constraint layer having a mesh structure; the constraint layer with the mesh structure is configured such that the equivalent tensile stiffness of the constraint layer in a first predetermined direction is lower than its equivalent tensile stiffness in at least one other direction, thereby achieving anisotropic mechanical constraint.

[0075] The constraint layer with a mesh structure achieves anisotropic stiffness through its specific geometric design: for example, its mesh units (such as holes) are arranged in slender elliptical or strip-shaped patterns along a first preset direction, or sparser rod connections are designed in this direction. This allows the mesh to easily extend through rod bending or hole deformation when the constraint layer is under stress along the first preset direction, exhibiting lower equivalent tensile stiffness; while in other directions perpendicular to or at a certain angle, the mesh is difficult to stretch due to structural continuity or dense rods, thus exhibiting higher equivalent tensile stiffness. This anisotropic constraint, achievable with a single material structure and with a precisely designed stiffness ratio, not only eliminates the risk of interface failure in traditional multilayer composite materials, but also allows the mechanical guiding characteristics of the driving unit to be flexibly "programmed" by adjusting the mesh pattern, thereby achieving lightweight, high air permeability, and better in-plane compliance while ensuring excellent constraint effects.

[0076] In some embodiments, the structure having anisotropic stiffness is made of a single intrinsically anisotropic material, and the Young's modulus of the intrinsically anisotropic material in a first predetermined direction is lower than its Young's modulus in at least one other direction.

[0077] In this passive constraint structure, when the passive constraint structure is composed of a single, uniform sheet of intrinsically anisotropic material, its anisotropic stiffness originates from the inherent molecular orientation or oriented crystal structure within the material. For example, this can be achieved using a polymer film or a liquid crystal elastomer film with a specific orientation, produced through a uniaxial stretching process. The mechanism for achieving anisotropic constraint lies in the fact that the material has a lower Young's modulus in a first predetermined direction, making it easily stretchable or compressible in that direction; while in at least one other direction perpendicular to it or at a specific angle, it has a significantly higher Young's modulus, thus rigidly suppressing deformation. This intrinsic difference in modulus allows the constraint layer to "allow" a certain degree of coordinated deformation along the low-modulus direction when the driving layer attempts to expand, while "forcibly" preventing deformation in the high-modulus direction, thereby guiding the output of the driving layer to the first predetermined direction. Because the anisotropy is provided by the intrinsic properties of the material, this method eliminates the need for composite, lamination, or complex microstructure processing, completely eliminating the risk of interface failure between multilayer materials and ensuring high uniformity and long-term stability of the constraint performance. This design makes the drive unit structure extremely compact, robust, and consistent, making it particularly suitable for applications with extremely high requirements for reliability, lightweight, and miniaturization.

[0078] In some embodiments, a structure with anisotropic stiffness includes a plurality of discrete rigid constraint elements, which are distributed in a chain or strip shape along a first preset direction, thereby forming a continuous constraint path in a direction perpendicular to the first preset direction.

[0079] This structure achieves anisotropic constraints by flexibly connecting multiple discrete rigid constraint elements (such as miniature rigid plates or short rods) in a chain-like or strip-like manner along a first preset direction (e.g., through hinges or a flexible substrate). When the driving layer deforms, the structure can bend or stretch like a chain in the first preset direction, exhibiting low equivalent stiffness; while perpendicular to the first preset direction, these discrete elements, due to their own rigidity and continuous arrangement, collectively form a nearly immeasurable robust "constraint wall," strongly suppressing deformation. This design cleverly combines local flexibility with overall rigidity, ensuring that the driving unit can freely output motion or adapt to complex curved surface installations in specific directions, while also ensuring high reliability and stability in key constraint directions. Thus, while achieving efficient mechanical guidance, it improves the geometric adaptability and structural durability of the driving unit for complex application scenarios.

[0080] In some embodiments, the mesh structure constraint layer can be a fiber reinforcement layer, wherein the high-strength fibers in the fiber reinforcement layer are arranged along a second preset direction, and the angle between the fiber arrangement direction and the first preset direction is less than a preset angle. For example, the preset angle may include 45 degrees. In other embodiments, the preset angle may also be other angle values, which are not limited in this application.

[0081] The design achieves constraint guidance by incorporating a fiber reinforcement layer on the flexible electrode layer: high-strength fibers (such as carbon fiber, aramid, or glass fiber filaments) are embedded or adhered to the surface of the flexible electrode layer (first and second flexible electrode layers) at an angle of less than 45 degrees along a second preset direction. When the angle between the high-strength fiber arrangement direction and the "first preset direction" requiring driving force is small, the fiber bundle can enhance the tensile stiffness of the composite structure perpendicular to the fiber arrangement direction, thereby effectively suppressing the expansion deformation of the driving layer in this direction. Simultaneously, due to the relative sliding or bending of the fibers along the fiber arrangement direction, a low stiffness is maintained, allowing motion to be released along this "first preset direction." This design enables the flexible electrode layer to maintain its conductivity while possessing the mechanical properties of directional constraint. It not only achieves high structural integration and lightweighting but also enables precise and customizable design of the magnitude and direction of constraint stiffness through a simple and reliable fiber arrangement process, thereby ensuring more efficient and controllable driving output.

[0082] In some embodiments, the passive constraint structure is integrated with the first flexible electrode layer and / or the second flexible electrode layer to form a composite functional layer that simultaneously possesses conductive and anisotropic constraint functions.

[0083] The integration of the passive constraint structure with the flexible electrode layer can include single-sided integration and / or double-sided integration. In one embodiment, the passive constraint structure can include a first constraint layer and a second constraint layer.

[0084] In one embodiment, the single-sided integration may include fusing the first constraint layer and the first flexible electrode layer into a single functional layer through material composite bonding. For example, conductive filler can be embedded in a high-modulus oriented fiber-reinforced elastomer. Alternatively, the first constraint layer and the first flexible electrode layer can be fused into a single functional layer through an integrated structural design. For example, a microstructure with directional stiffness can be constructed on a conductive thin film. In this integration method, the integrated side (i.e., the functional layer side obtained by integrating the first constraint layer and the first flexible electrode layer) can both apply an electric field to the driving layer and provide directional constraint. The other side (the independently set second constraint layer and second flexible electrode layer) remains an independent functional layer, which is particularly suitable for applications requiring controllable bending or torsion, simplifying the structure on one side while retaining design flexibility.

[0085] In one embodiment, the single-sided integration may further include fusing the second constraint layer and the second flexible electrode layer into a single functional layer through material composite fusion, or fusing the second constraint layer and the second flexible electrode layer into a single functional layer through structural integration design. In this integration method, the integrated side (i.e., the functional layer side obtained by integrating the second constraint layer and the second flexible electrode layer) can apply an electric field and provide directional constraints. The other side (the independently set first constraint layer and the first flexible electrode layer) remains an independent functional layer. When there is a certain difference in stiffness between the first constraint layer and the second constraint layer, the asymmetric mechanical properties of the driving unit can be constructed through single-sided integration. The rigid integrated side can provide strong and immediate deformation suppression and guidance, while the opposite side (the side with weaker stiffness) realizes bending motion, thereby pre-setting a bending or torsional tendency at the mechanical level.

[0086] Figure 3 This is a schematic diagram of a driving unit for a composite functional structure provided in one embodiment of this application.

[0087] Reference Figure 3 As shown, in one embodiment, the dual-sided integration may include fusing the first constraint layer and the first flexible electrode layer into a first functional layer 30a, and fusing the second constraint layer and the second flexible electrode layer into a second functional layer 30b, thereby forming two independent composite functional layers that simultaneously possess "conductivity and constraint" functions. The intermediate layer is a driving layer 20a composed of an electrically actuated material. This achieves a complete simplification and performance leap in the driving unit's structure and function. It completely eliminates the independent flexible electrode layer, achieving zero-interface, synchronized operation of electric field application and mechanical constraint on both sides. This not only makes the structure most compact and the reliability highest, but also ensures that the bidirectional deformation of the driving component can be guided and converted most efficiently, thereby achieving significant improvements in output density, response speed, and energy efficiency.

[0088] In some embodiments, the flexible electro-actuator includes one or more inner cores made of electro-actuating material and a spiral or mesh flexible electrode layer surrounding the inner core; and a passive constraint structure includes a constraint guide sheath layer woven from high-strength fibers covering the outside of the flexible electro-actuator; wherein the flexible electro-actuator is linear and has a circular or elliptical cross-section.

[0089] In one embodiment, when an electric field is applied to the spiral or mesh-like flexible electrode layer, one or more inner cores made of electro-actuating material will undergo active deformation such as expansion, contraction, or shearing. The constraint guide sheath layer covering the outside, which is woven at a specific angle from high-strength fibers (such as carbon fiber or aramid fiber), strongly restricts the lateral expansion and torsion of the electro-actuator in the radial and circumferential directions due to its anisotropic mechanical properties, while mainly allowing it to undergo significant longitudinal expansion and contraction along the axial direction (first preset direction), thereby efficiently converting electrical energy into a pure linear driving displacement or driving force along the axial direction. The flexible electro-actuator, which is linear and has a circular or elliptical cross-section, can achieve precise rotation or opening and closing movements by directly pulling the connection point of the eyeball shell or eyelid through its free end. In this highly integrated structure, the spiral or mesh electrodes ensure uniform electric field, rapid response, and good durability; the fiber-woven constraint guiding sheath layer not only achieves precise and efficient direction conversion, but also serves as a reinforcing layer that significantly improves the mechanical strength and service life of the actuator; the linear shape and circular / elliptical cross-section give it excellent layout flexibility, making it easy to arrange and integrate at multiple angles and high density within the limited bionic anatomical space of the bionic eye, thus achieving a perfect combination of high power density, fast response, and highly bionic compact layout of the actuator unit as a whole.

[0090] In some embodiments, a plurality of flexible electro-actuators are configured to collaboratively drive the eyeball shell to perform rotational motion in at least two degrees of freedom.

[0091] It should be noted that the "degree of freedom" in robotics refers to the number of possible ways an object can move independently in space. For eye rotation, at least two degrees of freedom usually means being able to achieve the two basic movements of pitch (up and down) and yaw (left and right).

[0092] In one embodiment, multiple linear flexible electro-actuators are spatially distributed and connected to different positions on the eyeball shell. When a differentiated electric field excitation is applied to a specific combination of electro-actuators, each electro-actuator generates a linear driving displacement or driving force along a preset direction under the guidance of a passive constraint structure. These drives work together at their free ends to pull corresponding connection points on the eyeball shell, forming a resultant torque, thereby driving the eyeball to achieve precise and smooth composite rotational motion in multiple directions such as pitch and yaw around its rotation center. With this current configuration, the robot's bionic eye can simulate the multi-directional flexible gaze capability of the human eye, significantly improving the naturalness and realism of the movement. Simultaneously, the direct collaborative drive of the flexible electro-actuators avoids the complexity and backlash errors of traditional gear and linkage mechanisms, achieving high-performance eye movement control that is compact, fast-responding, precise, and low-noise.

[0093] In some embodiments, when the number of multiple flexible electro-actuators is three or more, they are configured to drive the eyeball shell to achieve rotational motion with three degrees of freedom.

[0094] Figure 4 This is a three-dimensional distribution diagram of three flexible electric actuators provided in one embodiment of this application.

[0095] Among them, reference Figure 4 As shown, in one embodiment, when the number of flexible electro-actuators is three or more, the multiple flexible electro-actuators 101 can be three-dimensionally distributed and connected in space around the eyeball shell C1. For example, the cross section formed by each flexible electro-actuator 101 surrounding the eyeball shell C1 passes through the rotation center of the eyeball shell C1, and the cross section corresponding to each flexible electro-actuator 101 is perpendicular to each other in space. The control system applies independent and coordinated electric field excitation to each group or each flexible electro-actuator 101; under the directional guidance of the passive constraint structure, the linear driving force generated by each flexible electro-actuator 101 is accurately transmitted to different attachment points on the surface of the eyeball shell C1. By synthesizing the three-dimensional force vector and torque in space, the eyeball shell C1 is driven to not only achieve pitch and yaw motion, but also roll motion around the visual axis, that is, to achieve a complete three rotational degrees of freedom including roll. The current configuration enables the robot's bionic eye to completely replicate all natural rotational forms of the human eye in three-dimensional space. For example, it can automatically compensate for eyeball rotation when the head is tilted, achieving complete bionic motion functionality. At the same time, multi-actuator collaborative control improves the smoothness, stability, and anti-interference ability of the motion, while all drive units remain flexibly integrated. This ensures the high degree of motion realism while maintaining a highly compact, low-inertia, fast-response, and quiet operation of the entire system structure.

[0096] In some embodiments, when the number of multiple flexible electro-actuators is six, they are configured to simulate the anatomical topology of the six extraocular muscles of the human eye to construct three sets of spatial antagonistic pairs.

[0097] Figure 5 This is a schematic diagram illustrating the distribution of six extraocular muscles using a flexible electro-actuator provided in one embodiment of this application.

[0098] Among them, reference Figure 5 As shown, in one embodiment, when the number of the plurality of flexible electro-actuators is six, they are arranged to simulate the anatomical topology of the six extraocular muscles of the human eye. For example, the six flexible electro-actuators simulate the six extraocular muscles of the human eye specifically as the superior rectus, inferior rectus, medial rectus, lateral rectus, superior oblique, and inferior oblique muscles, respectively corresponding to… Figure 5 The system includes simulated superior rectus muscle 101a, simulated inferior rectus muscle 101b, simulated medial rectus muscle 101c, simulated lateral rectus muscle 101d, simulated superior oblique muscle 101e, and simulated inferior oblique muscle 101f. Three sets of drive pairs are formed in a spatially symmetrical and antagonistic manner along the equatorial plane and meridian direction of the eyeball shell. Two electroactors in each antagonistic pair are connected to the eyeball shell in approximately opposite directions. By independently controlling the strength and timing of their electric field excitation, the coordinated extension and contraction of the two electroactors in one set can be achieved. For example, one may contract while the other remains still or slightly extends, thus precisely driving the eyeball shell to complete rotational movements with three degrees of freedom, including horizontal rotation, vertical rotation, and torsion, in a highly biomimetic "push and pull" manner. With the current configuration, the core driving mechanism of human eye movement can be reproduced from a biomechanical perspective. This not only makes the eye movement trajectory extremely natural, smooth and in line with anatomical laws, but also inherits the inherent motion decoupling characteristics and intrinsic stability of biological systems, greatly simplifying the algorithm complexity of multi-degree-of-freedom collaborative control. At the same time, it inherits all the advantages of flexible drive structure, such as compactness, rapid response, quietness and high efficiency, achieving a high degree of unity between functionality, realism and engineering reliability.

[0099] In some embodiments, a plurality of flexible electro-actuators are connected to the eyeball shell via bionic tendons.

[0100] In one embodiment, the bionic tendon can be multiple (e.g., six) ultra-high molecular weight polyethylene (UHMWPE) braided strips connecting the free end of the drive module to the anatomical attachment points on the eyeball shell. The driving displacement or driving force of multiple flexible electro-actuators is efficiently and with low loss transmitted to the anatomical attachment points simulating the six extraocular muscles of the human eye on the surface of the eyeball shell through the multiple UHMWPE braided strips (bionic tendons) connected to their free ends. By controlling the coordinated extension and contraction of each electro-actuator, the corresponding braided strips are driven to produce precise "traction and relaxation" movements, thereby driving the eyeball shell to achieve rotational movements with three degrees of freedom: pitch, yaw, and roll in a bionic antagonistic manner. In this structure, multiple ultra-high molecular weight polyethylene braided strips (biomimetic tendons) possess extremely high strength, extremely low elongation, and excellent fatigue resistance, ensuring efficient and lag-free transmission of driving force and accurately replicating the mechanical transmission function of biological tendons. Their lightweight and flexible properties significantly reduce the inertia and frictional loss of moving parts, ensuring the sensitivity and smoothness of eye movements. At the same time, this design achieves a high degree of biomimicry of the human eye tendon drive system at the kinematic level, making the eye movement trajectory more natural and realistic, and greatly improving the structural robustness and long-term reliability of the entire drive connection link.

[0101] In some embodiments, the flexible electro-actuator further includes a passive constraint layer coupled to the drive layer, configured to convert deformation of the drive layer in the thickness direction into bending motion of the flexible electro-actuator along its length direction to drive eyelid opening and closing.

[0102] Figure 6 This is a schematic diagram of a flexible electric actuator driving eyelid opening and closing, provided in one embodiment of this application.

[0103] In one embodiment, when an electric field is applied to the driving layer made of an electro-actuating material, the driving layer tends to undergo active expansion or contraction deformation in the thickness direction. A closely coupled passive constraint layer (typically made of a flexible material with a higher elastic modulus and extremely low deformation capacity) restricts the free deformation of the driving layer in the thickness direction. This asymmetric constraint causes internal stress at the interface between the two layers, thereby efficiently amplifying the microscopic deformation of the driving layer in the thickness direction and converting it into a macroscopic, controllable bending motion along the length of the entire flexible electro-actuator. (See reference...) Figure 6As shown, in this bending motion, the free end of the flexible electro-actuator 101 directly or through the connector 601 abuts against or pulls the eyelid, thereby driving the eyelid to perform a smooth opening and closing motion around its hinge axis. With this structure, the linear expansion and contraction deformation of the material under an electric field can be directly converted into the arc-shaped trajectory motion required to drive the eyelid through a simple double-layer composite structure, achieving a high degree of matching between the motion form and functional requirements. This method eliminates any intermediate transmission mechanism that converts linear motion into rotational or arc-shaped motion, making the eyelid drive unit structure extremely simplified, compact, and lightweight. Simultaneously, the bending motion itself is gentle and inherently compliant, making the opening and closing motion of the eyelid exceptionally smooth and natural, significantly reducing impact and noise, and replicating the motion characteristics of a biological eyelid.

[0104] In some embodiments, the eyelids include an upper eyelid and a lower eyelid, and are each driven by at least one of the flexible electroactuators comprising a passive restraint layer.

[0105] Figure 7 A schematic diagram of the distribution of flexible electro-actuators for driving the upper and lower eyelids, provided as an embodiment.

[0106] In one embodiment, at least two independent flexible electro-actuators, each dedicated to driving the upper and lower eyelids respectively, have an internal driving layer that deforms in the thickness direction under electric field excitation. A tightly coupled passive constraint layer applies asymmetric constraints to this deformation, thereby converting it into bending motion of the entire electro-actuator. The bending motion of the upper eyelid electro-actuator drives its upper eyelid to close downwards or open upwards around a hinge point, while the lower eyelid electro-actuator drives its lower eyelid to perform complementary or independent opening and closing movements with a similar but independently controllable bending motion. For example, see... Figure 7 As shown, two independent flexible electro-actuators 101u1 and 101u2, respectively, abut against or pull the upper eyelid through their respective connectors 601u1 and 601u2, driving the upper eyelid to perform a smooth opening and closing motion around its hinge axis. Similarly, two independent flexible electro-actuators 101d1 and 101d2, respectively, abut against or pull the lower eyelid through their respective connectors 601d1 and 601d2, driving the lower eyelid to perform a smooth opening and closing motion around its hinge axis.

[0107] This structure enables independent, precise, and coordinated control of the upper and lower eyelids, simulating a variety of realistic physiological eyelid movement patterns, from rapid blinking to slow closing. The structure and driving principle are highly unified and simple, requiring no additional transmission conversion mechanism. The bending driving method perfectly matches the arc-shaped movement trajectory of the eyelid, making the movement extremely smooth, natural, and quiet, greatly enhancing the overall expressiveness and realism of the bionic eye.

[0108] In some embodiments, the flexible electro-actuator itself constitutes the main structure of the eyelid.

[0109] In one embodiment, this highly integrated structure combines the control process of eyelid movement with the structural function. Specifically, the flexible electro-actuator, as the main body of the eyelid, undergoes controllable macroscopic bending deformation directly under electric field excitation. This bending deformation itself constitutes the opening and closing action of the eyelid. The active deformation of the electro-actuating material provides the driving source, while the passive constraint layer, integrally formed or tightly composited with the driving layer, precisely guides the deformation into a bending motion simulating a physiological arc through its anisotropic stiffness, thereby realizing the natural opening and closing of the eyelid. With this structural configuration, the physical connection and transmission interface between the independent driving element and the eyelid structure are eliminated, achieving true "structure as actuator" integration. This makes the eyelid component extremely thin and the structure incredibly simple. At the same time, there is no intermediate loss or transmission lag between the drive and the movement, resulting in millisecond-level direct response and ultra-high energy efficiency. Furthermore, the inherent properties of the flexible material give the eyelid movement inherent compliance and buffering capacity, with an extremely smooth and realistic movement trajectory, achieving a level of quietness and long-term reliability that is difficult for traditional mechanical structures to reach.

[0110] In some embodiments, the passive restraint layer includes reinforcing material arranged in a second preset direction, which is parallel to the tangent direction of the arcuate contour of the eyelid or forms a preset acute angle with the length direction of the flexible electro-actuator.

[0111] In one embodiment, the function of the passive restraint layer is precisely achieved through the specific spatial orientation of its internal reinforcing materials (such as high-strength fibers or sheets): when these materials are arranged along a tangential direction parallel to the arcuate contour of the eyelid (a second preset direction), they provide extremely high tensile stiffness in that direction, thereby strongly suppressing the elongation or contraction of the flexible electro-actuator along the contour direction during eyelid opening and closing; however, in the direction perpendicular to this reinforcing direction (i.e., approximately along the normal direction of the eyelid contour), the stiffness of the structure is relatively low, which allows the active deformation energy generated by the drive layer under the electric field to be more freely converted into bending deformation of the entire composite structure along this low-stiffness direction. This structural configuration encodes the required arc-shaped motion trajectory into the anisotropy of the material itself, achieving "material-level" pre-programming and precise guidance of the eyelid bending motion trajectory without any external guiding mechanism, ensuring that every opening and closing action naturally follows the preset biomechanical contour; at the same time, directional reinforcement significantly improves the eyelid structure's fatigue resistance and shape retention during repeated bending, achieving an extremely smooth and realistic motion effect while ensuring the long-term durability and reliability of the drive components.

[0112] In some embodiments, the bionic eye movement control device may further include a controller electrically connected to a flexible electro-actuator for closed-loop control based on a target motion command and deformation information of the flexible electro-actuator.

[0113] In one embodiment, the controller generates an initial drive signal and applies it to each flexible electro-actuator based on an externally input target motion command (such as a specific eyeball rotation angle or eyelid opening and closing speed). Simultaneously, the controller acquires real-time deformation information (such as expansion / contraction, bending curvature, or impedance changes) from sensors integrated within or coupled to the electro-actuators (such as strain sensors, curvature sensors, or capacitance sensors), and compares this actual deformation information with the desired deformation state corresponding to the target command in real time. Based on the difference, the controller dynamically adjusts the electric field strength, frequency, or timing output to each electro-actuator using a preset control algorithm (such as PID control), thus forming a closed-loop control circuit from command to drive to feedback to adjustment. This controller effectively overcomes the inherent nonlinearity, hysteresis, and environmental sensitivity of flexible electro-actuator materials, ensuring extremely high positional accuracy, repeatability, and dynamic response stability of the eyeball and eyelid movements. Furthermore, the system possesses automatic compensation and anti-interference capabilities, adapting to load changes and maintaining motion performance over long periods, thereby significantly improving the overall intelligence level and reliability of the bionic eye device.

[0114] In some embodiments, the bionic eye movement control device may further include an environmental sensor for sensing external light and / or sensing the proximity of surrounding objects; wherein, a plurality of flexible electro-actuators are further configured to trigger the eyelids to perform a protective closing action when the environmental sensor senses that the light intensity of external light is greater than a light intensity threshold or the proximity of surrounding objects is less than a preset distance.

[0115] In one implementation, eye movement control is achieved through intelligent interaction with the environment. Specifically, integrated environmental sensors (such as photosensors and proximity sensors) continuously monitor the intensity of external light or the distance to objects in front. When a sudden increase in light intensity is detected (e.g., strong light exceeding a light intensity threshold) or the distance to an object is less than a preset safety threshold, the sensors trigger a signal to the control system. The system then generates a protective command, prioritizing the rapid movement of the flexible electro-actuator connected to the eyelid to perform a protective closure in a very short time, allowing the bionic eyelid to reflexively close like a biological eye. This configuration endows the robot's bionic eye with autonomous and rapid environmental perception and stress protection capabilities, significantly improving its reliability and safety in complex or potentially hazardous environments. Simultaneously, this function highly simulates the blink reflex and corneal protection mechanism of a biological eye, further enhancing the realism and completeness of the bionic performance. Furthermore, the entire perception and actuation process is rapid and highly integrated, requiring no complex intervention from an external central processing system.

[0116] The following detailed description of the bionic eye movement control device provided in this application is provided through several specific embodiments.

[0117] Example 1

[0118] This embodiment provides a bionic eye movement control device with a layered flexible electro-actuated unit. Specifically, the bionic eye movement control device includes, from top to bottom: a passive constraint structure, an upper flexible electrode layer, a driving layer, a lower flexible electrode layer, and an encapsulation component. The upper and lower flexible electrode layers can be the first flexible electrode layer and the second flexible electrode layer provided in this application embodiment.

[0119] The passive constraint structure (fiber reinforcement layer) is formed by unidirectional arrangement of high-strength carbon fibers in a single direction (i.e., the preset driving direction in this embodiment) and embedded in a flexible silicone matrix and cured. The tensile modulus of this fiber reinforcement layer in the direction perpendicular to the fiber (greater than 1 GPa) is much higher than that in the direction along the fiber (e.g., 100 MPa), forming strong anisotropic stiffness.

[0120] The upper flexible electrode layer is made of coated carbon grease, which has good conductivity and flexibility.

[0121] Drive layer: Composed of a pre-stretched acrylic dielectric elastomer (such as 3M VHB4910) film with a thickness of approximately 0.5 mm, which is the core of electro-deformation.

[0122] The material of the lower flexible electrode layer is the same as that of the upper electrode layer.

[0123] Encapsulation component (not fully shown in the figure): The entire laminated structure is covered by biocompatible silicone rubber, providing insulation, protection and external mechanical interface, with an elastic modulus of approximately 1 MPa.

[0124] In the structure described above in this embodiment, when a high-voltage electric field (e.g., 3-4 kV) is applied between the upper and lower flexible electrode layers, the driving layer thins due to Maxwell stress, attempting to expand isotropically in the plane. Because the upper fiber reinforcement layer has extremely high stiffness in the direction perpendicular to the fiber (i.e., the cell width direction), expansion in this direction is strongly suppressed; while the stiffness along the fiber direction (i.e., the cell length direction, the preset direction) is relatively low, allowing the material to stretch along this direction. If both ends of the cell are fixed, the net effect is a macroscopic linear contraction force (i.e., driving force) along the length direction. The angle between the fiber direction and the preset direction is 0 degrees, ensuring the highest deformation guidance efficiency.

[0125] Example 2

[0126] This embodiment provides a variant implementation of various passive constraint structures, as detailed below:

[0127] Variant A features a mesh-structured constraint layer. The passive constraint structure is a metallic silver mesh pattern layer fabricated on a polyimide film using photolithography, which also serves as a flexible electrode layer. The mesh pattern is designed as follows: a sparse, elongated rhomboid mesh (low axial equivalent stiffness) along the predetermined driving direction; and a dense, short strip mesh (high lateral equivalent stiffness) in the vertical direction. This composite functional layer, upon applying an electric field, directly guides the driving layer to produce directional deformation through its patterned mechanical properties.

[0128] Variant B can be a structure with a linear drive fiber bundle. The flexible electroactor is a slender cylindrical (linear) shape with a diameter of approximately 1.2 mm. Its structure, from the inside out, consists of: a porous silica core doped with barium titanate (drive material), a spiral electrode layer of elastic yarn impregnated with silver nanowires, and a constraint guiding sheath layer (passive constraint structure) made of ultra-high molecular weight polyethylene fibers tightly woven at a braiding angle of approximately 20°. This sheath layer provides extremely high radial constraint, efficiently converting the expansion of the core into strong contraction along the axis, forming an "artificial tendon".

[0129] Variant C can be an integrated constraint structure for the load-bearing structure. A slender guide groove with a rectangular cross-section is machined into the rigid skeleton of the robot's eye socket. A flexible electro-actuator plate containing only the drive layer and electrode layer is embedded in this groove. The two long sidewalls of the guide groove form a passive constraint structure, whose physical shape restricts the lateral expansion of the drive plate, forcing its deformation to occur only along the longitudinal direction of the groove (a preset direction).

[0130] Example 3

[0131] This embodiment provides a method for driving two degrees of freedom of directional movement of the eyeball, as detailed below:

[0132] The structure is configured to include an eyeball shell, an arc-shaped load-bearing structure, two flexible electric actuators as provided in Embodiment 1 (as drive module A and drive module B, respectively), and a passive tension spring.

[0133] Two drive modules, A and B, are fixed at one end to the support structure at a 90-degree angle, and the other end is directly connected to the corresponding attachment point on the equatorial ring of the eyeball shell. A passive tension spring connects the eyeball shell and the support structure.

[0134] The control processor coordinates the contraction and relaxation of two drive modules based on a pre-stored two-dimensional motion model. For example, the contraction of drive module A and the relaxation of drive module B can drive the eyeball to rotate horizontally to the left, with a spring providing a return assist. This device has a compact structure and realizes at least two degrees of freedom of rotational movement of the eyeball in the horizontal-vertical plane.

[0135] Example 4

[0136] This embodiment provides a drive device for the three degrees of freedom movement of the eyeball.

[0137] The structure is configured to include three flexible electric actuators as provided in Embodiment 1 (as three drive modules A, B, and C) and variant B provided in Embodiment 2.

[0138] Among them, one end of the three drive modules (A, B, C) is fixed to the ring-shaped support structure at 120-degree intervals, and the other end is connected to the eyeball shell in an asymmetrical manner.

[0139] Three non-coplanar drive modules (A, B, and C) constitute a spatial force system. Based on the kinematic model established by their geometric arrangement, the control processor analyzes the target's three-dimensional rotation command into the target contraction amount of each of the three drive modules. Through coordinated control, the eyeball can be driven to achieve rotational movements with three degrees of freedom: horizontal, vertical, and torsional.

[0140] Example 5

[0141] This embodiment provides a bionic eye movement device based on four drive modules.

[0142] The configuration of four flexible electro-actuated robot drive modules aims to achieve two-degree-of-freedom motion with more stable and stronger driving force output, or to achieve limited three-degree-of-freedom motion through asymmetrical arrangement.

[0143] The specific structural configuration of the device includes:

[0144] Eyeball shell: spherical or near-spherical structure with four symmetrical or asymmetrical tendon attachment points on its surface;

[0145] Support structure: It adopts a ring or square base plate with four anchor points, the positions of which have been optimized by mechanical means;

[0146] Four flexible electro-actuated robot drive modules: Each unit includes a drive unit, an electrode layer, and a fiber-reinforced constraint and guidance assembly;

[0147] Bionic tendons: used to connect the drive module and the eyeball shell, improving the flexibility of movement and the sense of biomimicry;

[0148] Passive elastic repositioning elements, such as miniature springs or elastic bands, assist the eyeball in returning to center or provide antagonistic force.

[0149] The specific layout of the driver modules is as follows:

[0150] Mode 1: Orthogonal symmetrical arrangement (achieving two degrees of freedom of movement). Specifically, the four units are located in the four directions of up, down, left, and right, respectively, and are distributed in a cross shape. Each pair of horizontal units (left-right) controls horizontal rotation, and each pair of vertical units (up-down) controls vertical rotation. Through coordinated contraction and relaxation, the eyeball can move smoothly in the horizontal and vertical directions.

[0151] Mode 2: Asymmetrical arrangement at the four corners of space (to achieve enhanced two-degree-of-freedom or limited three-degree-of-freedom motion). Specifically, the four units are distributed at the four corners of space, each forming a different torque arm with the center of eye rotation. By independently controlling the contraction of each unit, more complex torques can be synthesized to achieve horizontal, vertical and micro-torsional motion. It is suitable for scenarios that require slight torsional performance (such as fine-tuning during gazing) but do not require full three degrees of freedom.

[0152] The control processor receives the target eye movement command (such as "gaze to the upper right"), and based on the pre-stored four-unit kinematic model (usually a 4×3 or 4×2 transformation matrix), decomposes the target motion into contraction commands for each driving module. The specific process is as follows:

[0153] 1. Instruction parsing: The processor converts the target angle into the linear displacement or force required by each unit;

[0154] 2. Co-driving: For example, when looking upwards and to the right, the left unit contracts and the right unit relaxes, the lower unit contracts and the upper unit relaxes;

[0155] 3. Closed-loop feedback: The strain sensors built into each unit provide real-time feedback on deformation, and the processor performs PID adjustment to ensure precise motion;

[0156] 4. Reset and retention: After the movement ends, the passive elastic element assists the eyeball to return to center, or the drive module maintains slight tension to maintain the gaze posture.

[0157] Compared to devices using two drive modules, the bionic eye movement device with four drive modules provided in this embodiment can provide greater torque output, making it suitable for larger or heavier eye structures. Furthermore, multi-unit support can reduce motion jitter and improve motion smoothness. If one unit fails, the remaining units can still maintain basic functions, resulting in stronger system fault tolerance. It is suitable for mid-to-high-end service robots: in scenarios that require more natural eye movements but do not need to completely mimic the human six-muscle topology, this solution is a balanced choice between cost and performance.

[0158] Example 6

[0159] This embodiment provides a bionic eyeball fully bionic motion device based on six drive modules.

[0160] The specific structural configuration of the device is as follows:

[0161] 1. Support structure: A rigid bionic extraocular muscle drive ring adapted to the inner wall of the robot's orbit. The ring has six anchor points with biomechanically optimized spatial positions, whose coordinates are calculated based on the eyeball rotation center, the target torque arm, and the path of the bionic tendon.

[0162] 2. Drive Module Array: Six high-performance drive modules, each with a high-strength carbon fiber unidirectional reinforcement layer for their constraint and guidance components, ensuring extremely high axial stiffness and guidance accuracy. They are fixed to the drive ring according to the topological structure simulating the six extraocular muscles of the human eye: horizontal antagonist pairs (simulating the medial and lateral rectus muscles), vertical antagonist pairs (simulating the superior and inferior rectus muscles), and oblique antagonist pairs (simulating the superior and inferior oblique muscles).

[0163] 3. Bionic tendon connection: Six bionic tendons woven from ultra-high molecular weight polyethylene are connected at one end to the anchoring interface of the drive module through a micro buckle, and at the other end, they pass through the low-friction micro guide trolley on the drive ring and are connected to the corresponding anatomical attachment point on the eyeball shell.

[0164] 4. Integrated Control System: The drive ring itself serves as an integrated substrate, on which the drive control circuit and a local control processor are integrated. The electrodes and sensor lines of the six drive modules are directly connected to the drive circuit through flexible circuitry, minimizing wiring.

[0165] Fully closed-loop anthropomorphic control process:

[0166] Command receiving steps: The main control system sends the command "Execute quick scan to coordinates (X,Y)".

[0167] Advanced analysis and planning steps: The local control processor receives instructions. It internally stores an advanced kinematic and dynamic model based on the six-unit biomimetic topology of this embodiment. The processor first performs mechanical coupling calculations to pre-compensate for potential interference caused by tendon parallel connections. Then, based on the "scanning" mode, it uses a minimum time optimization algorithm to generate a dynamic motion trajectory.

[0168] Drive parameter generation and anthropomorphic injection steps: Based on the model, the target trajectory is converted into the target force-time curves of the six drive modules. During this process, anthropomorphic dynamic parameters are injected programmatically: 1) Add a physiological latency of about 150-200 milliseconds to the saccadic motion; 2) Superimpose a 90Hz random noise with a very small amplitude into all drive signals to simulate physiological micro-tremors.

[0169] Drive and Dual Closed-Loop Control Steps: The drive circuit generates a high-voltage waveform based on the processor's instructions and applies it to each drive module. The unit contracts, pulling the eyeball's movement via tendons. First Closed Loop (Force Closed Loop): Strain sensors in each unit provide real-time feedback of the actual contraction force. The processor performs PID adjustment to ensure the output force accurately tracks the target curve. Second Closed Loop (Visual Closed Loop): A miniature camera integrated within the eyeball captures images, calculates the deviation between the current visual axis and the target point, and feeds this visual error back to the processor, dynamically fine-tuning the drive commands until the fixation error is eliminated.

[0170] Fatigue simulation steps: If the system continues to maintain an extreme viewing angle, the processor will slowly introduce a small fatigue attenuation coefficient, causing an imperceptible decrease in output force, simulating eye muscle fatigue, and triggering the system to make minor adjustments or actively reset.

[0171] This embodiment realizes a complete technical closed loop from structure and drive to advanced intelligent control.

[0172] Example 7

[0173] This embodiment provides a driving device for the biomimetic opening and closing of eyelids.

[0174] The specific structural configuration of the device is as follows:

[0175] Driving layer: dielectric elastomer film.

[0176] Electrode layer: A flexible conductive layer on the upper and lower surfaces.

[0177] Passive constraint layer: fiber reinforcement layer, the key feature of which is the arrangement direction of its reinforcing fibers.

[0178] Specifically, for the upper eyelid actuator, the carbon fiber arrangement direction in its passive constraint layer is designed to be parallel to the tangent direction of the arc contour when the upper eyelid is naturally closed. For scenarios requiring specific torsion or bending effects, the fiber arrangement direction can form a preset acute angle (such as 30°) with the length direction of the actuator.

[0179] Each of the upper and lower eyelids is driven by an independent flexible electro-actuator, the free end of which is connected to the silicone eyelid skin.

[0180] When an electric field is applied, the thickness of the driving layer shrinks, but due to the high stiffness of the passive constraint layer along the eyelid arc, the deformation is forced into bending motion of the entire actuator along its length, thereby precisely driving the eyelid to open and close along the biomimetic arc.

[0181] Example 8

[0182] This embodiment provides an intelligent eye device that integrates sensing and closed-loop control, providing intelligent sensing and control functions.

[0183] The device integrates a flexible metal foil strain gauge on each flexible electro-actuator for real-time and precise monitoring of its deformation (corresponding to the contraction of the eyeball actuator or the curvature of the eyelid actuator).

[0184] Furthermore, it employs an embedded microprocessor for control and processing.

[0185] The controller receives advanced commands such as "focus on a coordinate" or "blink"; it calls a pre-stored motion model to parse the target deformation value for each actuator; it outputs drive signals; simultaneously, it reads real-time feedback signals from each sensor; and it dynamically compares the target and feedback values ​​using a PID control algorithm, adjusting the drive voltage to form a closed-loop control. This system can automatically compensate for disturbances such as material creep and temperature drift, ensuring motion accuracy and reliability.

[0186] Example 9

[0187] This embodiment provides a device with environmental sensing and protection functions.

[0188] The device can be supplemented with the following sensors based on Embodiment 8:

[0189] Environmental sensors: An ambient light sensor and a miniature ToF proximity sensor are integrated into the robot's brow ridge.

[0190] Specifically, when the ambient light sensor detects a momentary burst of intense light (such as a camera flash), or the proximity sensor detects an object rapidly approaching, the sensor signal immediately triggers the controller. The controller interrupts the current command and generates a high-speed eye-closing reflex command, driving the upper and lower eyelids to close rapidly within 100 milliseconds, achieving biomimetic protection and ensuring the safety of internal optical components.

[0191] This application also provides a bionic eye movement control method, which can be applied to the bionic eye movement control device provided in the foregoing embodiments of this application. The bionic eye movement control method provided in this application will be described in detail below with reference to the accompanying drawings.

[0192] Figure 8 This is a flowchart of a bionic eye movement control method provided in one embodiment of this application.

[0193] Reference Figure 8 As shown, the method may include the following steps:

[0194] S1: Receives eye movement commands.

[0195] S2: Based on the pre-stored motion model, the eye movement command is parsed into a coordinated drive signal for multiple flexible electro-actuators.

[0196] S3: Based on the collaborative driving signal, control each flexible electro-actuator to generate driving displacement or deformation under the guidance of the passive constraint structure, so as to drive the eye function to generate corresponding eyeball movement and / or eyelid movement.

[0197] Regarding S1:

[0198] The bionic eye movement control device receives eye movement commands from various sources through its integrated controller. These commands can be control commands actively issued by the user through external input devices (such as a joystick, keyboard, or graphical interface), coordinated commands automatically generated by the upper-level host system (such as a robot's central processing unit or AI vision processing module) based on environmental perception and task planning, or periodic commands automatically triggered based on preset programs (such as emotion expression sequences or autonomous blinking rhythms). These commands are typically transmitted in the form of digital signals or data packets with specific protocols. Their core content clearly specifies the target eye movement type (such as eyeball turning to a specific coordinate, eyelid blinking once, or continuous closure) and the corresponding motion parameters (such as speed, amplitude, or trajectory). After receiving the commands, the system performs preliminary verification and parsing, providing accurate and reliable input for subsequent coordinated signal parsing and drive execution. By defining a unified, flexible, and open control interface, the eye device can be seamlessly integrated into various robots or interactive systems, supporting multiple application modes from direct manual control to advanced intelligent autonomous control, ensuring the efficiency, diversity, and real-time nature of the entire system's control source.

[0199] Regarding S2:

[0200] The controller invokes its internally stored motion model (typically based on robot kinematics, biomechanics, or trained through machine learning) to analyze and map received abstract eye movement commands (such as "gaze coordinates" or "blink frequency") in real time. This model defines the spatial kinematic relationship between the eyeball shell and eyelids, the driving characteristics of each flexible electro-actuator (such as voltage-displacement curves), and the coordination rules between multiple actuators. Based on this, the controller accurately calculates the independent driving parameters required for each flexible electro-actuator to achieve the target motion, such as the magnitude of the driving voltage, application timing, duration, or waveform. Finally, these parameters are integrated and encoded into a set of coordinated driving signals that can be directly executed by the high-voltage drive circuitry. By transforming complex multi-degree-of-freedom motion planning into precise and executable low-level physical drives, users or upper-level systems do not need to understand the cumbersome driving details. Simultaneously, through model compensation and optimization, the inherent nonlinearity and hysteresis of flexible electro-actuators are effectively overcome, ensuring high precision, high real-time performance, and highly realistic motion trajectories from command to action. This forms the core intelligent layer for realizing intelligent and dexterous eye movements.

[0201] Regarding S3:

[0202] The controller outputs the collaborative drive signal generated in step S2 to the corresponding high-voltage drive circuit, applying an electric field excitation with specific voltage, timing and waveform to each flexible electro-actuator; the electro-actuating material inside the electro-actuator generates active deformation under the electric field excitation, and at the same time, its integrated passive constraint structure (such as fiber reinforcement layer or asymmetric composite layer) applies anisotropic mechanical constraint to this deformation, thereby guiding the inherent multidimensional deformation of the material in a directional manner and efficiently converting it into a precise driving displacement or macroscopic deformation along the first preset direction; the driving displacement or deformation is transmitted to the eye functional part directly or through the connection structure through the free end of the electro-actuator, and finally drives the eyeball shell to complete the rotational motion around its rotation center and / or drives the eyelid to achieve the opening and closing motion. The core benefit of this execution step lies in its ability to achieve precise and efficient energy conversion and motion generation from electrical signals to mechanical motion. It fully leverages the advantages of flexible electro-actuation and passive constraint working together, resulting in rapid response, precise motion, and high energy utilization throughout the entire driving process. At the same time, this direct drive method eliminates the gaps, friction, and inertial lag of traditional transmission mechanisms, ensuring that eye movements have highly anthropomorphic smoothness, compliance, and quietness. It is the key physical layer for ultimately achieving the realistic dynamic performance of the bionic eye.

[0203] The following detailed description of the bionic eye movement control method provided in this application is based on specific embodiments.

[0204] Example 10

[0205] This embodiment provides a detailed explanation of the bionic eye movement control method. The method is further divided into several detailed steps, which will be described in detail below:

[0206] Step S11: Receive instructions. Receive high-level eye movement instructions such as "scan to target A" or "express surprise (open eyes wide)".

[0207] It receives high-level semantic instructions from users, pre-programmed systems, or higher-level artificial intelligence systems. These instructions, described in natural language or standardized code, define the complex behavioral intentions the bionic eye needs to perform (such as quickly shifting its gaze or expressing specific emotions), rather than low-level motor control parameters. The beneficial effect of this design is that it establishes a highly abstract, intuitive, and easily integrated control interface, allowing the controller to directly command the bionic eye to complete expressive tasks without needing to understand the underlying complex driving mechanisms. This greatly improves the system's usability, programmability, and compatibility with higher cognitive functions.

[0208] Step S12: Model Resolution. Based on pre-stored motion models (such as the six-module kinematic model of the eyeball and the eyelid flexion motion model), the high-level commands are resolved into specific coordinated drive signal parameters (target displacement / force, timing) for multiple flexible electro-actuators. This step may include mechanical coupling calculation to pre-compensate for the mutual interference between eyeball and eyelid movements.

[0209] Utilizing an embedded, precise mathematical model, high-level instructions are translated into executable physical drive commands. The motion model incorporates the geometry and kinematic relationships of the eyeball and eyelids, as well as the driving characteristics of each flexible electro-actuator. The analytical process not only calculates the independent target parameters for each actuator but also, through a coupled solution module, pre-analyzes and counteracts potential mechanical interference between eyeball rotation and eyelid opening and closing, thereby generating a set of coordinated, conflict-free collaborative drive signals. Its beneficial effects include achieving precise and efficient mapping from behavioral intent to physical execution, ensuring the purity and independence of multi-degree-of-freedom motions through proactive compensation, eliminating motion crosstalk at the control algorithm level, and guaranteeing the high accuracy and realism of the final action.

[0210] Step S13: Signal Injection and Output. Anthropomorphic dynamic parameters, such as the physiological delay of saccades, the micro-tremors during fixation, and the slow relaxation simulating fatigue, are programmably injected into the drive signal to make the movement more natural. The drive signal is then output.

[0211] Based on precise engineering drive signals, dynamic parameters simulating the characteristics of biological nervous systems are selectively and programmably superimposed. These parameters are not random noise, but rather based on research into the physiology of biological eye movements, used to mimic the imperfect characteristics of human eye movements, thereby breaking the inherent, monotonous, perfect trajectory of machine movement. Its beneficial effect lies in significantly overcoming the "uncanny valley effect," elevating the movement of the bionic eye from "mechanical precision" to "biological vividness," significantly enhancing its emotional expression and the observer's affinity, and representing a key processing step in improving the anthropomorphic expressiveness of bionic systems.

[0212] Step S14: Closed-loop adjustment. The drive signal is adjusted in real time based on the sensor feedback signal to achieve precise and smooth tracking control.

[0213] The actual motion state is continuously monitored by sensors built into the electro-actuator or the eye (such as strain, position, or vision sensors), and compared in real time with the expected target state parsed in step S12. Once a deviation is detected (caused by material nonlinearity, load changes, or external interference), the controller dynamically adjusts the output drive signal to eliminate the error. The beneficial effects are that it endows the system with strong anti-interference capabilities and environmental adaptability, ensuring stable and accurate tracking of target commands by eye movements under various conditions. Simultaneously, closed-loop control makes the start and stop of the action smoother and more fluid, significantly improving the system's robustness, accuracy, and long-term reliability.

[0214] This application also provides a robot that integrates the bionic eye movement control device provided in any embodiment of this application.

[0215] The robot will be described in detail below through specific embodiments.

[0216] Example 11

[0217] This application provides a robot integrated with a bionic eye movement control device.

[0218] The robot can be a humanoid head or a service robot, with a set of bionic eye movement control devices, as described in Embodiment 1 or Embodiment 4, integrated into each of its bilateral eye sockets. The supporting structure of the device is fixed to the robot's skull via a mechanical interface, and its control processor communicates with the robot's central control system via a bus.

[0219] The specific control process of the robot is as follows:

[0220] 1. Command Reception and Parsing: The robot's central vision system detects a new moving target (visitor) on the left and immediately generates a high-level command: "Execute a quick scan to the left coordinates (X, Y), accompanied by a friendly blink." This command is sent to the eye-specific controller. The controller then invokes its pre-stored kinematic model based on the anatomy of the six extraocular muscles of the human eye. The model quickly calculates that to turn the eyeball toward the target, the flexible electro-actuator corresponding to the "lateral rectus muscle" needs to contract, while the electro-actuator corresponding to the "medial rectus muscle" needs to relax appropriately; and to execute a blink, the electro-actuator driving the upper eyelid needs to complete a rapid bending-recovery cycle. The model also accurately calculates the temporal coordination between eyeball movement and eyelid movement, ensuring that blinking occurs naturally after the gaze action stabilizes.

[0221] 2. Simulated Driving and Execution: After generating the basic driving signals, the controller injects anthropomorphic parameters: adding approximately 50 milliseconds of physiological delay and slight overshoot-recall dynamics to the saccadic movement, making the eyeball rotation not instantaneously locked like a machine, but possessing a biological sense of agility. Subsequently, these coordinated driving signals are applied to the corresponding flexible electro-actuators in the form of high-voltage pulses. The electro-actuators deform under the electric field, and their outer high-strength fiber-woven sheath (passive constraint structure) strictly constrains the deformation to axial extension and contraction, thereby precisely pulling the ultra-high molecular weight polyethylene biomimetic tendon connected to the eyeball shell. Under the "push and pull" action of the tendon, the eyeball shell smoothly rotates to the target direction; simultaneously, the composite layer electro-actuator of the upper eyelid bends, completing a smooth closing and opening.

[0222] 3. Closed-Loop Stabilization and Adjustment: Throughout the movement, the micro-strain sensor embedded with the electro-actuator continuously provides feedback on the actual deformation. The controller compares the feedback signal with the expected model and finds that due to the increase in ambient temperature, the electro-actuator response is slightly delayed, resulting in a slight deviation of 0.5 degrees between the final eye position and the target. The controller immediately performs fine-tuning, applying a brief compensation pulse to the lateral rectus muscle electro-actuator to precisely align the eye position with the visitor. The entire process is completed within milliseconds, without the visitor noticing.

[0223] Throughout the entire control process, highly realistic and natural interaction can be achieved. Specifically, the entire "discovery, gaze, and gesture" process is extremely smooth and natural. The rapid scanning of the eyeballs and the blinking with physiological dynamics completely break the stiffness of traditional robot movements, making visitors feel as friendly and comfortable as interacting with a real person, greatly enhancing the friendliness and acceptance of service robots.

[0224] Even with environmental interference, model-based collaborative analysis and real-time closed-loop control ensure the precision of the final action. Bionic tendons and flexible actuators provide backlash-free, low-friction transmission, while passive constraint structures guarantee the purity of the drive direction, together achieving sub-degree positioning accuracy and high repeatability.

[0225] From high-level semantic instructions to low-level muscle-based collaborative driving, everything is handled by a highly integrated dedicated controller and drive system, resulting in fast response times and eliminating the need for a central processing unit to handle detailed motion planning. The integrated, lightweight eye drive unit allows for a more compact and portable design of the "Apex" head, with significantly lower power consumption and operating noise compared to traditional motor-gearbox solutions.

[0226] This robot can exhibit natural, dynamic, and emotional eye contact, greatly enhancing its performance and approachability in service, companionship, and social scenarios. It successfully combines biomechanical inspiration, advanced material properties, and intelligent control algorithms to achieve a comprehensive breakthrough in the functionality, realism, and reliability of robot eye movements in dynamic and unstructured environments.

[0227] In summary, the technical solution of this application, compared with the existing rigid drive solution described in the background art, achieves the following breakthrough and beneficial effects:

[0228] 1. Extremely compact structure and high integration: Utilizing the thin and customizable characteristics of flexible electro-actuated drive modules, combined with bionic tendon transmission, the complex rigid gear linkage mechanism is completely eliminated, enabling the multi-degree-of-freedom drive system to be perfectly embedded in the limited and complex orbital space of the bionic robot.

[0229] 2. Absolutely silent operation for an immersive experience: The drive is based on electrostatic field actuation, with no mechanical moving parts (such as motors or gears), which fundamentally eliminates operating noise and vibration, providing an impeccable quiet environment for close-range human-computer interaction.

[0230] 3. Highly compliant and biomimetic motion: The inherent continuous deformation characteristics of flexible materials, combined with precise force control through multi-unit collaboration, can produce highly smooth and biomimetic dynamic curves, achieving a level of compliant motion and dynamic continuity that traditional rigid systems cannot match.

[0231] 4. Intelligent anthropomorphism and rich emotional expression: The hardware architecture provides an ideal physical foundation for advanced control algorithms. By injecting pre-stored motion models, mechanical coupling solutions, and anthropomorphic dynamic parameters (micro-tremors, saccade dynamics, fatigue simulation), the robot's eyes can exhibit rich, natural, and emotionally dynamic "expressions," greatly enhancing the vividness and credibility of the interaction.

[0232] 5. Precise and reliable control with strong scalability: Based on a kinematic model of a specific topology and a dual-loop (force loop, vision loop) control strategy, the accuracy of eye movements and anti-interference capabilities are ensured. The "unit-module-system" design concept has good platform scalability and can be adapted to robot eyes of different sizes and performance requirements.

[0233] In summary, this application presents a complete and innovative solution, from hardware architecture to control strategy, which successfully overcomes the inherent defects of traditional rigid drive solutions and lays the core technological foundation for building a truly natural and reliable biomimetic robot visual expression system.

[0234] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A biomimetic eye movement control device, characterized in that, An application to a bionic eye for robots, the bionic eye comprising a carrier and functional eye parts, the functional eye parts including an eyeball shell and an eyelid, and the bionic eye motion control device comprising: Multiple flexible electro-actuators, each comprising an electro-actuating material that undergoes active deformation under electric field excitation, wherein one end of the flexible electro-actuator used to drive the eyeball shell is connected to the carrier as a fixed end, and its free end having a driving displacement or driving force is directly or indirectly connected to the eyeball shell to drive the eyeball shell to rotate. The main structure of the eyelid is composed of the flexible electro-actuator to drive the eyelid to open and close. The flexible electro-actuator includes a driving layer, a first flexible electrode layer, a second flexible electrode layer, and a passive constraint layer coupled to the driving layer. The passive constraint layer is configured to provide anisotropic mechanical constraints on the active deformation of the flexible electro-actuator, thereby guiding the active deformation and converting it into a driving displacement or driving force along a first preset direction. The passive constraint layer of the flexible electro-actuator used to drive the eyelid to open and close includes reinforcing material arranged in a second preset direction, which is parallel to the tangent direction of the arcuate contour of the eyelid or forms a preset acute angle with the length direction of the flexible electro-actuator used to drive the eyelid.

2. The apparatus according to claim 1, characterized in that, The driving layer is composed of the electro-actuating material; The first flexible electrode layer and the second flexible electrode layer are respectively disposed on both sides of the driving layer to apply a driving electric field; The passive constraint layer is coupled to either the flexible electro-actuator or the drive layer.

3. The apparatus according to claim 2, characterized in that, The passive constraint layer is a structure with anisotropic stiffness, and the anisotropic stiffness structure includes at least one of the following: The mesh structure constraint layer is configured such that its equivalent tensile stiffness in the first preset direction is lower than its equivalent tensile stiffness in at least one other direction. A sheet-like intrinsic anisotropic material layer is configured such that its Young's modulus in the first preset direction is lower than that in at least one other direction; Discrete rigid constraint elements are distributed in a chain or strip shape along the first preset direction, thereby forming a continuous constraint path in a direction perpendicular to the first preset direction.

4. The apparatus according to claim 1, characterized in that, Multiple flexible electro-actuators for driving the eyeball shell are configured to collaboratively drive the eyeball shell to perform rotational motion in at least two degrees of freedom.

5. The apparatus according to claim 4, characterized in that, When the number of flexible electric actuators used to drive the eyeball housing is three or more, they are configured to drive the eyeball housing to achieve rotational motion with three degrees of freedom.

6. The apparatus according to claim 2, characterized in that, The passive constraint layer of the flexible electro-actuator used to drive the eyelid opening and closing motion is configured to convert the deformation of the driving layer in the thickness direction into bending motion of the flexible electro-actuator along its length direction to drive the eyelid opening and closing.

7. A biomimetic eye movement control method, applied to the device according to any one of claims 1-6, characterized in that, The method includes: Receive eye movement commands; Based on the pre-stored motion model, the eye movement command is parsed into a coordinated drive signal for multiple flexible electro-actuators; Based on the aforementioned collaborative driving signal, each flexible electro-actuator is controlled to generate driving displacement or deformation under the guidance of the passive constraint layer, so as to drive the eye functional parts to generate corresponding eyeball movement and / or eyelid movement.

8. A robot, characterized in that, It integrates a bionic eye movement control device as described in any one of claims 1-6.

Images