A Novel Cable-driven Eye Robot For Human Vision Visualization and Strabismus Diagnosis

Human vision is accomplished by precisely coordinating the two eyes. Uncoordinated eye rotation leads to binocular misalignment, such as strabismus, which affects more than 18 million people in USA. This paper presents a novel cable-driven eye robot and a vision simulating platform based on the developed eye robot, which can significantly enhance the diagnostic accuracy of strabismic vision. The robotic platform features a 3-degree-of-freedom (DOF) cable-driven design that mimics human eye movements with high precision. Through a methodological advance in estimating time-varying homography matrices, our approach offers an objective and quantitative insight into the visual anomalies experienced by strabismic subjects. The validation of the proposed robotic system through experiments with healthy individuals and strabismic subjects showcases its potential to improve diagnostic accuracy, monitor disease progression, and evaluate treatment results. The study successfully showcases the ability of the eye robot to provide insight into the visual challenges faced by strabismic subjects.