Robot Eye Saccade Emulation via Video Playback Speed
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Solution Overview
Problem
Robot actuators are unable to move the eyeball fast enough to mimic human saccade, which is rapid eye motion.
Innovation Solution
A method is developed to generate and playback video segments of a robot eye's movement at different speeds, allowing for the emulation of saccade by playing back the second video segment at a faster rate than it was acquired.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the actuator moves the robot eye at its maximum speed, then the speed of eye movement is improved, but it still cannot achieve the speed of human saccade
Solution Approach 1:
The patent captures video of the robot eye moving at achievable speeds and plays it back at accelerated rates to create a copy of saccade motion. The physical eye moves slowly while the video playback simulates fast saccadic movement, allowing calibration without requiring the actuator to actually move at saccade speeds.
Solution Approach 2:
The patent replaces the mechanical limitation of the actuator with a temporal transformation solution. Instead of trying to make the mechanical system move faster, it uses video capture and playback speed transformation to achieve the desired motion profile, substituting mechanical performance with temporal processing.
2Ease of operation
If the actuator moves the robot eye slowly, then the mechanical system operates within its capabilities, but it cannot mimic rapid human eye movement
Solution Approach 1:
The patent creates a video copy of the slow eye movement and accelerates the playback to simulate fast saccade. The actuator operates easily at slow speeds while the video playback creates the illusion of rapid movement, resolving the contradiction between ease of operation and speed requirement.
Solution Approach 2:
The patent introduces temporal dynamics by capturing motion at one speed and reproducing it at a different speed. The system dynamically transforms the time scale of the motion through video playback rate adjustment, allowing the same physical motion to serve multiple speed requirements.
3Measurement precision
If video is captured at high frame rates to record fast movement, then motion detail is improved, but the playback duration becomes excessively long when played back at capture rate
Solution Approach 1:
The patent uses periodic action by capturing complete eye movement cycles at achievable speeds and playing them back multiple times at accelerated rates. Each video segment represents a complete movement cycle that can be reused and accelerated, maintaining precision while reducing overall calibration time through repeated playback.
Solution Approach 2:
The patent applies temporal dynamics by adjusting the playback speed of captured video segments. The same high-precision capture data is played back at different rates depending on the required simulation speed, allowing flexible time compression while maintaining the precision of the original capture.
Data Source
AI summary
Techniques for simulating fast eye movement of a robot to mimic human eye saccade are divulged in cases of the robot eyes being moved by actuators that cannot move the eyes fast enough in real time to mimic saccade. Image capture timing is adjusted (i.e., slowed down) to track the speed of the actuators. Then, the resulting sequence of images is time-compressed back to video playback speed so that the video appears to show the robot eye undergoing saccade at human eye speeds.