A mechanical human eye manipulator and a device including the same

Abstract

A mechanical human eye manipulator and a device including the same are disclosed. The mechanical human eye manipulator includes: a parallel link mechanical structure, including: a parallel link mechanical structure, including: at least two links having at least two degrees of freedoms, and at least one actuator for actuating the movement of the at least two links; and a human eye member, which is supported by the parallel link mechanical structure.

Description

[0001] Attorney Ref. No: 045456.00010

[0002] A MECHANICAL HUMAN EYE MANIPULATOR AND A DEVICE INCLUDING THE SAME

[0003] FIELD OF THE INVENTION

[0004] This disclosure relates to the technical field of human eye manipulation, and more specifically, to a mechanical human eye manipulator and a device including the same.

[0005] BACKGROUND OF THE INVENTION

[0006] A human eye manipulator or a mechanical human eye manipulator is a mechanical structure or device to manipulate human eye motion. Specifically, this mechanical structure is designed to mimic, assist, or interact with the movements of the human eye. These systems are used in fields like ophthalmology, robotics, virtual reality, and neurology for research, diagnosis, or therapy.

[0007] The human eye manipulator can be used in ophthalmic research to study eye mechanics, diseases, and treatments; eye movement simulation fortesting surgical tools or optical devices like contact lenses or glasses; assistance in precise positioning during eye surgeries; and human-robot collaboration.

[0008] Conventionally, a human eye manipulator uses a gimbal structure to generate human eye movements. Generally speaking, a gimbal structure is a mechanical structure that allows an object, such as a camera, sensor, or human eye member, to rotate freely about two or three orthogonal axes. It is widely used in aerospace, robotics, cinematography, and navigation systems for stabilization and precise orientation. Here’s a detailed look at gimbal structures:

[0009] An article of Lotze, A., Love, K., Velisar, A. et al. "‘Alow-cost robotic oculomotor simulator for assessing eye tracking accuracy in health and disease”, Behav Res 56, 80-92 (2024), ( has disclosed a robotic oculomotor simulator

[0010]

[0011] including an eye robot using a gimbal structure, which is incorporated in hereby as reference.

[0012] An article of Kosovicheva, A., “Robotic eyes: Gazing into the future of eye tracking” (https: / / featuredcontent.psychonomic.org / robotic-eyes-gazing-into-the-future-of-eye-tracking / )

[0013] i

[0014] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0015] has disclosed a 3D-printable, programmable eye robot using a gimbal structure to stimulate a human eye movement, which is incorporated in hereby as reference.

[0016] A gimbal structure typically provides 2 or 3 rotational degree of freedom (DOF), which allows motion about roll, pitch, and / or yaw axes. Each axis is independent, enabling precise orientation control.

[0017] A gimbal structure will include rod or belt structure which is very bulky and will generate lots of constraints to the human head design.

[0018] SUMMARY OF THE INVENTION

[0019] One object of this disclosure is to provide anew technical solution for a mechanical human eye manipulator.

[0020] According to a first aspect of the present disclosure, there is provided a mechanical human eye manipulator, which includes: a parallel link mechanical structure, including: at least two links having at least two degrees of freedoms, and at least one actuator for actuating the movement of the at least two links; and a human eye member, which is placed on the platform of the parallel link mechanical structure.

[0021] According to a second aspect of the present disclosure, there is provided a device including at least one mechanical human eye manipulator according to an embodiment.

[0022] According to an embodiment of this disclosure, a mechanical human eye manipulator allows more compact human eye system by reducing some restriction moving structures.

[0023] Further features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments according to the present disclosure with reference to the attached drawings.

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with the description thereof, serve to explain the principles of the invention.

[0026] 2

[0027] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0028] FIG. 1 is a schematic diagram showing a human eye manipulator according to an embodiment of this disclosure.

[0029] Fig. 2 is a schematic diagram showing a human eye manipulator according to another embodiment of this disclosure.

[0030] Fig. 3 is a schematic diagram showing a human eye manipulator according to another embodiment of this disclosure.

[0031] Fig. 4 is a schematic diagram showing a device including a human eye manipulator according to an embodiment of this disclosure.

[0032] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the drawings. It should be noted that the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Techniques, methods and apparatus as known by one of ordinary7skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

[0036] In all of the examples illustrated and discussed herein, any specific values should be interpreted to be illustrative only and non-limiting. Thus, other examples of the exemplary' embodiments could have different values.

[0037] Notice that similar reference numerals and letters refer to similar items in the following figures, and thus once an item is defined in one figure, it is possible that it need not be further discussed for following figures.

[0038] FIG. 1 is a schematic diagram showing a human eye manipulator according to an embodiment of this disclosure. As shown in Fig. 1, the mechanical human eye manipulator includes a parallel link mechanical structure 1 and a human eye member 2. The parallel link mechanical structure 1 may include at least two links 12 having at least two degrees of freedoms, and at least 3

[0039] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0040] one actuator 13 for actuating the movement of the at least two links 12. The human eye member 2 is supported by the parallel link mechanical structure 1.

[0041] In an embodiment, at least part of the parallel link mechanical structure is placed out of the Field of View of the human eye member. For example, the parallel link mechanical structure may be placed in a horizontal position or posture. By this configuration, a blocking or impact on the Field of View of the human eye member will be reduced when the human eye member is moving or rotating.

[0042] The parallel link mechanical structure 1 may further include a base 11 and a platform 14. For example, the base 11 supports the at least two links 12. The base 11 may be a wall or a rod. The platforml4 is supported by the at least two links 12. The human eye member 2 is placed on the platform 14.

[0043] The parallel link mechanical structure has high precision and rigidity7and is stable. So, unlike a gimble, the parallel link mechanical structure does not need to drive a motor and gears and thus it can drive the human eye member in a quick and precise manner.

[0044] For example, the actuator 13 is mounted on the base 11, so that the parallel link mechanical structure 1 can provide a good dynamic performance and provide a more accurate positioning because the weight of the link is reduced and the inertia is low.

[0045] For example, the links may be hydraulic, pneumatic, or electric that connect the base to the platform. Spherical or universal joints are used at both ends of the links to allow free movement and orientation changes.

[0046] In this embodiment, human eye motions and behaviors are manipulated by using multi degrees of freedom parallel link mechanism. By using the human eye manipulator according to an embodiment of this disclosure, it allows more compact human eye system by reducing the restrictions moving structures.

[0047] The parallel link mechanism is a type of mechanical system often used in engineering where multiple links (or arms) work in parallel to control the position and orientation of an obj ect, usually- called the "end-effector." These systems are highly valued for their rigidity, precision, and ability7to handle heavy loads relative to their size. Because of the parallel arrangement, the system is 4

[0048] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0049] inherently more rigid compared to serial mechanisms. Because the forces and moments are distributed across multiple links, enabling the mechanism to handle higher loads. Furthermore, the parallel link mechanism can reduce the moving mass and improve dynamic performance. The parallel link configuration can minimize the deflection and thus provide high accuracy and precision. These advantages match the requirement of the human eye applications.

[0050] Another advantage of using parallel link for human eye motions is that it can avoid using belt that might cause the slippage of the contact surface which impacts the human eye motion performance. It is also possible to avoid using gears that cause the backlash which also impacts the human eye motion performance.

[0051] In an embodiment, there is no belt for the parallel link mechanical structure outside of the at least two links. As shown in Fig.l, the actuator 13 can be provided at the bottom sides of the links, and the links can be actuated by the actuator. As such, there will be no belt or electrical line belt provided outside the links, which might hinder the movement of the parallel link mechanical structure. For example, a printed circuit is provided on the base and provide power and signals to the actuator.

[0052] In an embodiment, an electrical path may also be provided to the platform for the human ey e member. The electrical path may use for power delivery7and / or data communication. The at least two links include a hollow rod and an electrical line belt is provided inside the hollow rod.

[0053] Furthennore, one side sticky tape with an electrical line belt is provided. The link has at least one hollow rod. The sticky7side of the tape is adhered to the inside wall of the rod. A flexible electrical line belt is used to bridge the one side sticky tape and the power and signal circuit on the base. In this regard, the parallel link mechanical structure will have clean outlook so that the impact of the electrical lines on its movement will be reduced. In an example, the upper portion of the tape is one side sticky7tape and the lower side of the tape is non-sticky one both side which acts as the flexible electrical line belt. In an alternative embodiment, a first reinforcement member be provided at the connection of the one side sticky tape and the flexible electrical line belt. In another alternative embodiment, a second reinforcement member be provided at the outlet of the hollow rod so that the impact of the rod movement on the tape, such as the movement caused by the rod 5

[0054] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0055] movement, will be reduced. For example, the reinforcement may at least one fold of tape. In this respect, the impact of the tape on the movement of the link will be reduced while the stability of the electrical connection via the tape will be kept. The flexible electrical line belt wi 11 let the link to keep its movement ability. The side of the belt other than that connected to the tape may be connected to a circuit on the base which provide power / signal to the belt, and there is a second reinforcement member is provided before the connection of the belt and the circuit. The second reinforcement may at least one part of the belt soldered on the base through laser welding.

[0056] Fig. 2 is a schematic diagram showing a human eye manipulator according to another embodiment of this disclosure.

[0057] In an embodiment, the parallel link mechanical structure 21 is a Stewart t pe parallel link structure, which includes six variable-length links 212. For example, the parallel link mechanical structure 21 has six degrees of freedoms. As shown in Fig. 2, the mechanical human eye manipulator includes a parallel link mechanical structure 21 and a human eye member 22. The parallel link mechanical structure 21 includes a base 211, six links 212, an actuator 213 and a platform 214.

[0058] The Stewart type parallel link structure is a type of parallel link mechanism widely used for applications such as Flight simulators, Computer Numerical Control (CNC) machining and so on. It is also referred to as a 6-DOF (degree of freedom) platform, as it can independently control motion along and around the three Cartesian axes (X, Y, Z, pitch, roll, yaw). The Stewart type parallel link structure’s actuators and links move and orient the platform by adjusting the lengths of the links. By coordinating these changes, the platform can achieve precise motion in translations along X, Y, and Z axes and rotations (pitch (rotation around X), roll (rotation around Y), and yaw (rotation around Z)). For instance, the platform can be moved straight up by extending all actuators, and can be tilted in a specific direction by extending some link(s) while retracting others.

[0059] The Stewart type parallel link structure used here can provide the mechanical human eye manipulator with a high precision and very fine control over movement and orientation. It is a compact structure supporting a wide range of motions. Furthermore, because the actuators are mounted on the base, the dynamic mass are reduced and thus the inertia is reduced.

[0060] 6

[0061] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0062] Fig. 3 is a schematic diagram showing a human eye manipulator according to another embodiment of this disclosure.

[0063] In the embodiment of Fig. 3, the parallel link mechanical structure 31 is a spherical type parallel link structure, which includes multiple links 312. and at least one of the links 312 includes a spherical joint. For example, the spherical type parallel link structure has three degrees of freedoms. As shown in Fig. 3, the mechanical human eye manipulator includes a parallel link mechanical structure 31 and a human eye member 32. The parallel link mechanical structure 31 includes a base 311, three links 312, three actuators 313 and a platform 314. Fig. 3 also shows the joints 3121 which connect two adjacent links or connects the links to the base 311 or the platform 314.

[0064] The spherical type parallel link structure is a type of parallel mechanism where the motion of the moving platform is constrained to rotational motion about a fixed point, forming a spherical motion workspace. The structure is often used for applications such as alignment systems in optical or medical devices, antenna or sensor mounts. The spherical type parallel link structure typically provides up to three rotational DOF (roll, pitch, and yaw). The platform pivots are moved around a single fixed point. The links of the spherical type parallel link structure are arranged so that their axes or lines of action intersect at a single virtual or physical center of rotation. In this embodiment, the actuators are placed on the base to control the angular movement, so that the mass of the links and the inertia thereof are reduced. The sections of one link are connected by using spherical, revolute, or universal joints to allow free rotation of the link. The actuators in the spherical type parallel link structure drive the movement of the links, causing the platform to rotate around the fixed center point. The motion is governed by the relative lengths or angles of the links and is determined using inverse kinematics. For example, the platform can be tilted in one direction (pitch or roll) by adjusting one link. The platform can achieve combined rotational movements such as pitch and yaw by coordinating multiple links. The spherical type parallel link structure can achieve a compact design which allows a large range of motion in a small footprint, a high precision and a rigid structure. These features are suitable for the human eye manipulator.

[0065] 7

[0066] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0067] In another embodiment, a human eye manipulator can have three degrees of freedoms or two degrees of freedoms to achieve less complexity for the human eye motion generation.

[0068] In another embodiment, the links are controlled by the actuators independently.

[0069] In another embodiment, the human eye member can include a feedback mechanism. By using the feedback mechanism, the posture and / or position of the human eye member can be determined so that a designer can verify whether the human eye manipulator is working correctly.

[0070] In one example, the human eye member may include a Hall sensor to sense the posture and / or position of the human eye member. A Hall sensor is an electronic device that detects the presence of a magnetic field and converts it into an electrical signal. It operates based on the Hall effect. When an electric current flows through a conductive or semiconductor material, and a magnetic field is applied perpendicular to the current, a voltage, called the Hall voltage, is generated perpendicular to both the current and the magnetic field. This Hall voltage is directly proportional to the strength of the magnetic field. By measuring this voltage, the Hall sensor can determine the presence, polarity, and strength of the magnetic field so as to sense the posture and / or position of the human eye member.

[0071] In another example, the human eye member includes camera. The camera can detect the environment surrounding the human eye member.

[0072] In another embodiment, the posture and / or position can be used to drive the actuator to adjust the human eye member to a desired posture and / or position. For example, the data of the posture and / or position is transferred via the electrical path to a processing component for the human eye manipulator. The processing component process the data and generate a drive command. The drive command is sent to the actuators to drive the actuators and thus the actuators actuate the movement of the at least two links to adjust the human eye member to a desired posture and / or position.

[0073] The human eye member can also be calibrated by using the posture and / or position. For example, the processing component process the data to determine that the human eye member is at a reference posture and / or position such as the neutral posture and / or central position. The human

[0074] 8

[0075] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0076] eye member uses the reference posture and / or position as a reference to determine the movement amount when the actuators drive the links.

[0077] In another embodiment, the human eye member and the platform of the human eye member are connected through snap-in connection. Contacts are provided on both of the human eye member and the platform. When the human eye member and the platform are connected, the contacts of the human eye member and the contacts of the platform come into contact so that electrical power and / or data can be delivered or communicated via the electrical path.

[0078] In this manner, the human eye member is attachable so the application of the human eye manipulator is flexible. For example, the human eye member may be changed for different demands.

[0079] In another embodiment, the human eye member and the platform of the human eye member are connected in a magnetic manner. For example, each of the human eye member and the platform includes a magnetic component. When the human eye member and the platform come close, they connect with each other. The the contacts of the human eye member and the contacts of the platform also come into contact.

[0080] Fig. 4 is a schematic diagram showing a device 41 including a human eye manipulator 42 according to an embodiment of this disclosure.

[0081] The device may be a robotic device, test equipment, or automobile equipment. For example, the robotic device may be humanoid robot, robotic eye device and so on. The device may be used for human living, manufacturing and researches.

[0082] In an embodiment, the device may include two mechanical human eye manipulators. For example, each of the two mechanical human eye manipulators includes a human eye member. In a static state, a line connecting the two human eye members are substantively perpendicular to an axis of a link of the parallel link mechanical structure. For example, the line connecting the two human eye members is a line connecting pupils of the two human eye members. The pupils of the two human eye members converge to an objective point. For example, the objective point may be a target area on a screen of a device under test such as an AR / VR / MR glasses.

[0083] The descriptions of the various embodiments of the present disclosure have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments 9

[0084] BF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.00010

[0085] disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

[0086] BF241981P AFSDOCS 30226329.1

Claims

Attorney Ref. No: 045456.00010CLAIMSWhat is claimed is:

1. A mechanical human eye manipulator, which includes:a parallel link mechanical structure, including:at least two links having at least two degrees of freedoms, andat least one actuator for actuating the movement of the at least two links; and a human eye member, which is supported by the parallel link mechanical structure.

2. The mechanical human eye manipulator according to Claim 1, wherein at least part of parallel link mechanical structure is placed out of the Field of View of the human eye member.

3. The mechanical human eye manipulator according to Claim 1 or 2, wherein the parallel link mechanical structure further includes:a base, supporting the at least two links; anda platform, which is supported by the at least two links.wherein the human eye member is placed on the platform.

4. The mechanical human eye manipulator according to Claim 3, wherein the base is a wall or a rod.

5. The mechanical human eye manipulator according to Claim 1, wherein the parallel link mechanical structure is a Stewart type parallel link structure, which includes six variable-length links; orthe parallel link mechanical structure is a spherical type parallel link structure, which includes multiple links, and at least one of the links includes a spherical joint.nBF241981P AFSDOCS 30226329.1Attorney Ref. No: 045456.000106. The mechanical human eye manipulator according to Claim 5, wherein the spherical type parallel link structure has at least two degrees of freedoms by using at least two actuators.

7. The mechanical human eye manipulator according to Claim 6, wherein the at least two links include a hollow rod and an electrical line belt is provided inside the hollow rod.

8. A device including at least one mechanical human eye manipulator according to any one of Claims 1-7.

9. The device according to Claim 8, wherein the device includes two mechanical human eye manipulators.

10. The device according to any one of Claims 8-9, wherein the device is a robotic device, test equipment, or automobile equipment.BF241981P AFSDOCS 30226329.1

Images