A CONTROL THEORETIC MODEL OF THE COMBINED PLANAR MOTION OF THE HUMAN HEAD AND EYE

In this article we investigate the problem of how to model and control the combined motion of the human head and eye. We develop a model of the muscles, based on a simplified physical model and an assumption th at the muscles can be modeled as damped springs with a second order li near dynamics. We then find control laws that both make the combined p upil-movement follow a given trajectory, and make the separate head an d eye trajectories three times continuously derivable. Our controls al so make the energy produced in the movement small, since we believe th at to be a reasonable, physical control-criterion. (C) Elsevier Scienc e Inc., 1998.