JP4267555B2 - Eyeball control device, eyeball control method, and eyeball control program - Google Patents

Description

  The present invention relates to an eyeball control device, an eyeball control method, and an eyeball control program that control the movement of an eyeball.

  Conventionally, research has been carried out to make the movement of a robot closer to that of a human. Robots that can control not only limb movement but also eye movement have been developed (see Patent Documents 1 to 4). Such a robot is configured such that a spherical eyeball rotates about its center.

On the other hand, in the face image of a person or robot created by computer graphics technology, the position and shape of the eye pupil are expressed so that the spherical eyeball rotates around its center. Thereby, the eye movement of the face image is represented imitating the movement of the human eye.
JP 2004-42151 A JP 2004-233585 A JP 2001-157992 A JP-A-8-223455

  However, the movement of the eyeball of the conventional robot is unnatural, and there is a sense of incongruity when talking face-to-face with the robot. Similarly, even in a face image created by computer graphics technology, the eye movement is uncomfortable.

  An object of the present invention is to provide an eyeball control device, an eyeball control method, and an eyeball control program capable of accurately controlling the rotational movement of the eyeball so as to approximate the movement of the human eye.

  As a result of repeated various experiments and examinations, the present inventor has found that the human eyeball rotates not at its center but at a position deviated from the center, and has devised the following invention.

An eyeball control device according to a first aspect of the present invention is an eyeball control device that controls the rotational movement of an eyeball provided on a head facing an observer, the acquisition means for acquiring the rotation direction and rotation angle of the eyeball, and the eyeball Setting means for setting the center of rotation of the eyeball at a position shifted by a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction in the eyeball, and the rotation direction and rotation angle acquired by the acquisition means and the setting means And a control means for rotating the eyeball based on the rotation center.

In the eyeball control device according to the present invention, the rotation direction and rotation angle of the eyeball are acquired by the acquisition means. Further, the setting means sets the center of rotation of the eyeball to a position within the eyeball that is shifted by a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction. Further, the eyeball is rotated by the control means based on the acquired rotation direction and rotation angle and the set rotation center.

In this way, by rotating the eyeball around the center of the eyeball in a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction within the eyeball, the eyeball is rotated about the movement of the human eye. Can be accurately controlled to approximate.

The head may be a robot head, and the eyeball may be a robot eyeball. In this case, the eyeball of the robot rotates in the eyeball with the position shifted by a predetermined distance from the midpoint of the length in the front-rear direction of the eyeball as the center of rotation. Thereby, the rotational movement of the robot's eyeball approximates to the movement of the human eye.

The head may be an image of the head, and the eyeball may be an image of the eyeball. In this case, the image of the eyeball rotates within the eyeball with the position shifted by a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction as the center of rotation. Thereby, the rotational movement of the image of the eyeball approximates the movement of the human eye.

An eyeball control method according to a second invention is an eyeball control method for controlling a rotational movement of an eyeball provided on a head facing an observer, the step of acquiring a rotation direction and a rotation angle of the eyeball, A step of setting the rotation center in the eyeball at a position displaced by a predetermined distance from the midpoint of the length in the front-rear direction of the eyeball , and the eyeball based on the obtained rotation direction and angle and the set rotation center And a step of rotating the.

In the eyeball control method according to the present invention, the rotation direction and rotation angle of the eyeball are acquired. In addition, the center of rotation of the eyeball is set to a position within the eyeball that is shifted by a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction. Further, the eyeball is rotated based on the acquired rotation direction and rotation angle and the set rotation center.

In this way, by rotating the eyeball around the center of the eyeball in a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction within the eyeball, the eyeball is rotated about the movement of the human eye. Can be accurately controlled to approximate.

An eyeball control program according to a third aspect of the invention is an eyeball control program that can be executed by a computer to control the rotational movement of the eyeball provided on the head facing the observer, and the rotation direction and rotation angle of the eyeball are determined. Processing to acquire, processing to set the center of rotation of the eyeball at a position shifted by a predetermined distance from the midpoint of the length in the front-rear direction of the eyeball in the eyeball, and the acquired rotation direction and rotation angle, and set. The computer executes the process of rotating the eyeball based on the rotation center.

In the eyeball control program according to the present invention, the rotation direction and rotation angle of the eyeball are acquired. In addition, the center of rotation of the eyeball is set to a position within the eyeball that is shifted by a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction. Further, the eyeball is rotated based on the acquired rotation direction and rotation angle and the set rotation center.

In this way, by rotating the eyeball around the center of the eyeball in a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction within the eyeball, the eyeball is rotated about the movement of the human eye. Can be accurately controlled to approximate.

According to the present invention, by rotating the rotation center position displaced a predetermined distance to the rear side than the midpoint of the longitudinal length of the eyeball within its eye eyeball, the rotational movement of the eyeball of the human eye It can be accurately controlled to approximate by movement.

(1) First Embodiment First, the case where the eyeball control device, the eyeball control method, and the eyeball control program according to the present invention are applied to a robot will be described.

  FIG. 1 is a front view of a robot provided with an eyeball control device according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view of the head of the robot shown in FIG. FIG. 3 is a longitudinal sectional view of the robot of FIG. FIG. 4 is a block diagram showing a control system of the robot shown in FIG.

  As shown in FIG. 1, the robot 1 includes a head 10, a neck 20, and a trunk 21. The head portion 10 is provided on the trunk portion 21 via the neck portion 20.

  On the front surface of the head 10, a right eyeball 11R and a left eyeball 11L are provided. The eyeballs 11R and 11L have lenses 12R and 12L corresponding to the cornea and the crystalline lens.

  As shown in FIG. 2, the right eyeball 11R is rotationally driven left and right around the vertical axis by the right eye rotation driving device 14R. The left eyeball 11L is rotationally driven left and right around the vertical axis by the left eye rotation driving device 14L.

  The position of the rotation center of the right eyeball 11R is adjusted back and forth by the right eye rotation center position adjustment device 16R. The position of the rotation center of the left eyeball 11L is adjusted back and forth by the left eye rotation center position adjustment device 16L.

  As shown in FIG. 3, a control device 15 including a CPU (Central Processing Unit), a memory, and the like is provided in the upper part of the head 10.

  As shown in FIG. 4, the control device 15 controls the right eye rotation drive device 14R, the left eye rotation drive device 14L, the right eye rotation center position adjustment device 16R, and the left eye rotation center position adjustment device 16L. The control device 15 operates according to a robot control program. The robot control program includes an eyeball control program.

  5 is a schematic longitudinal sectional view of the left eyeball 11L viewed from the side, FIG. 6 is a schematic cross-sectional view of the left eyeball 11L viewed from above, and FIG. 7 is a schematic view of the left eyeball 11L viewed from the front. FIG.

  5-7, the left-eye rotation center position adjustment apparatus 16L is being fixed to the head 10 of FIG. The left-eye rotation drive device 14L is attached to the eyeball 11L so as to be movable in the front-rear direction. The left-eye rotation drive device 14L has a rotation shaft 140 that extends in the vertical direction. The rotation shaft 140 of the left eye rotation drive device 14L is attached to the left eye rotation center position adjustment device 16L so as to be movable in the front-rear direction.

  Since the left-eye rotation center position adjustment device 16L is fixed to the head 10, when the left-eye rotation drive device 14L rotates the rotation shaft 140, the left-eye rotation drive device 14L rotates left and right together with the eyeball 11L. In this case, the rotation shaft 140 becomes the rotation center P.

  The left eye rotation center position adjustment device 16L can adjust the position of the rotation center P of the eyeball 11L back and forth by moving the rotation shaft 140 of the left eye rotation drive device 14L in the front and back direction.

  The configuration and operation of the right eyeball 11R are the same as the configuration and operation of the left eyeball 11L.

  Next, an eyeball control operation in the robot according to the first embodiment will be described with reference to FIG. FIG. 8 is a diagram for explaining the principle of the eyeball control operation in the robot according to the first embodiment.

  In FIG. 8, a long axis L1 is a straight line passing through the center of the eyeball 11L and the center of the lens 12L. Assume that the intersection point between the long axis L1 and the front surface of the lens 12L is p1, and the intersection point between the long axis L1 and the back surface (back side surface) of the eyeball 11L is p2. In this case, the length D in the front-rear direction of the eyeball 11L is defined by the distance between the point p1 on the front surface of the lens 12L and the point p2 on the back surface of the eyeball 11L.

  Assuming that the midpoint of the length D of the eyeball 11L in the front-rear direction is M, the rotation center P of the eyeball 11L is set at a position shifted from the midpoint M to the back side (back side) by a predetermined distance d on the long axis L1. Is done. The distance d of the deviation of the rotation center P from the midpoint M will be described later. The displacement distance d is set to 2.5 mm as a result of experiments described later. In the present embodiment, the position of the rotation center P can be adjusted back and forth by the left eye rotation center position adjusting device 16L.

  The rotation center of the right eyeball 11R can be adjusted in the same manner as the rotation center P of the left eyeball 11L by the right eye rotation center position adjusting device 16R.

  If the eyeballs 11R and 11L have a plastic cover in front of the lenses 12R and 12L, the eyeballs 11R. The length D in the front-rear direction of 11L is defined by the distance between the front surface of the plastic cover and the back surfaces of the eyeballs 11R and 11L. When the eyeballs 11R and 11L have a plastic cover instead of the lenses 12R and 12L, the length D in the front-rear direction of the eyeballs 11R and 11L is between the front surface of the plastic cover and the back surface of the eyeballs 11R and 11L. Defined by distance. That is, the length D in the front-rear direction of the eyeballs 11R and 11L is defined by the length from the front surface to the back surface of the outer shape of the eyeballs 11R and 11L.

  Next, the eyeball control operation of the robot according to the first embodiment will be described. FIG. 9 is a flowchart showing the eyeball control operation of the robot according to the first embodiment.

  First, the control device 15 determines the rotation direction of the right eyeball 11R and the left eyeball 11L (step S1). Next, the control device 15 determines the rotation angles of the right eyeball 11R and the left eyeball 11L (step S2). In the present embodiment, the limit value of the rotation angle of the eyeballs 11R and 11L is ± 15 °.

  Next, the control device 15 determines the position of the rotation center P of the right eyeball 11R and the left eyeball 11L (step S3). In the present embodiment, the rotation center P of the right eyeball 11R and the left eyeball 11L is determined to be a predetermined distance d deeper than the midpoint M of the length D in the front-rear direction of the right and left eyeballs 11R, 11L. The

  Further, the control device 15 adjusts the positions of the rotation centers P of the right eyeball 11R and the left eyeball 11L by the right eye rotation center position adjustment device 16R and the left eye rotation center position adjustment device 16L, respectively (step S4). In the present embodiment, the rotation center P of the right eyeball 11R and the left eyeball 11L is adjusted to the back of the predetermined distance d from the midpoint M of the length D in the front-rear direction of the right and left eyeballs 11R, 11L. The

  Next, the control device 15 rotates the right eyeball 11R and the left eyeball 11L with the right eye rotation drive device 14R and the left eye rotation drive device 14L, respectively (step S5).

  In the robot 1 according to the present embodiment, the rotation centers P of the right and left eyeballs 11R and 11L are displaced by a predetermined distance d from the middle point M of the length D in the front-rear direction of the eyeballs 11R and 11L. Set to position. Thereby, the rotational movements of the right and left eyeballs 11R and 11L are approximated by the movement of the human eye.

  In the present embodiment, the control device 15 corresponds to acquisition means, the right eye rotation center position adjustment device 16R and the left eye rotation center position adjustment device 16L correspond to setting means, and the right eye rotation drive device 14R and left eye rotation The driving device 14L corresponds to the control means.

(2) Second Embodiment Next, a case where the eyeball control device, the eyeball control method, and the eyeball control program according to the present invention are applied to an image creation device will be described.

  FIG. 10 is a block diagram showing a configuration of an image creating apparatus according to the second embodiment of the present invention.

  The image creating apparatus 50 includes a CPU (central processing unit) 501, a ROM (read only memory) 502, a RAM (random access memory) 503, an input device 504, a display device 505, an external storage device 506, a recording medium driving device 507, and the like. An input / output interface 508 is included. The image creating apparatus 50 creates a computer graphics image (hereinafter referred to as a CG image).

  The input device 504 includes a keyboard, a mouse, and the like, and is used for inputting various commands and various data. The ROM 502 stores a system program. The recording medium driving device 507 includes a CD-ROM drive, a DVD (digital versatile disk) drive, a flexible disk drive, and the like, and reads and writes data from and on a recording medium 509 such as a CD-ROM, DVD, and flexible disk.

  An image creation program is recorded on the recording medium 509. The image creation program includes an eyeball control program. The external storage device 506 is composed of a hard disk device or the like, and stores an image creation program and various data read from the recording medium 509 via the recording medium driving device 507. The CPU 501 executes the image creation program stored in the external storage device 506 on the RAM 503.

  The display device 505 includes a liquid crystal display panel, a CRT (cathode ray tube), and the like, and displays various images. External devices such as a digital camera, an image scanner, and a printer can be connected to the input / output interface 508. The input / output interface 508 transfers an image given as image data by an external device such as a digital camera or an image scanner to the external storage device 506 and transfers an image created by the image creation program to an external device such as a printer.

  As the recording medium 509 for recording the image creation program, various recording media such as a semiconductor memory such as a ROM and a hard disk can be used. The image creation program may be downloaded to the external storage device 506 via a communication medium such as a communication line and executed on the RAM 503.

  FIG. 11 is a flowchart showing the operation of the image creating apparatus of FIG. The operation of this image creation apparatus is controlled by the CPU 501 in accordance with an image creation program.

  First, the CPU 501 determines the rotation directions of the right and left eyeballs (step S11). Next, the CPU 501 determines the rotation angles of the right and left eyeballs (step S12).

  Subsequently, the CPU 501 determines the positions of the rotation centers of the right and left eyeballs (step S13). In the present embodiment, the rotation centers of the right and left eyeballs are determined to be a predetermined distance d deeper than the midpoint of the length of the right and left eyeballs in the front-rear direction.

  Next, the CPU 501 determines the position of the pupil in the eyeball based on the rotation direction, the rotation angle, and the position of the rotation center of the right and left eyeballs (step S14). A method for determining the position of the pupil in the eyeball will be described later.

  Finally, the CPU 501 creates right and left eye images based on the position of the pupil in the eyeball (step S15).

  12A and 12B are schematic diagrams for explaining a method for determining the position of the pupil in the eyeball. FIG. 12A shows a view of the eyeball from above, and FIG. 12B shows an eye image.

  As shown in FIG. 12A, first, as shown by the dotted line, the eyeball 81 and the cornea portion 82 are drawn, and the long axis L1 passing through the center of the eyeball 81 and the center of the cornea portion 82 is drawn in the direction of the observer. To do. Here, assuming that the observer views the screen from the front of the display device, the long axis L1 is set in a direction perpendicular to the screen.

  The intersection point between the long axis L1 and the front surface of the cornea portion 82 is defined as p1, and the intersection point between the long axis L1 and the back surface (back surface) of the eyeball 81 is defined as p2. The length D in the front-rear direction of the eyeball 81 is defined by the distance between the point p1 on the front surface of the cornea portion 82 and the point p2 on the back surface of the eyeball 81.

  Assuming that the middle point of the length D of the eyeball 81 in the front-rear direction is M, the rotation center P of the eyeball 81 is set on the major axis L1 at a position shifted from the middle point M to the back side (back side) by a predetermined distance d. . The displacement distance d is set to 2.5 mm as a result of experiments described later.

  Next, the eyeball 81 is rotated by a predetermined angle around the rotation center P, and the rotated major axis L1 is drawn as indicated by the solid line. Further, as shown by the solid line, the corneal portion 82 is drawn around the long axis L1 after rotation.

  Next, as shown in FIG. 12B, the outer shape of the eye 61 is drawn, and the pupil 62 is drawn by projecting the intersection of the long axis L1 of FIG. Further, the iris 63 is drawn. In this way, an image of an eye that rotates about the rotation center P is created.

  FIG. 13 is a diagram illustrating an example of a CG image created by the image creating apparatus according to the second embodiment. In the CG image of FIG. 13, the right and left eyes are created by the method shown in FIG.

  In the image creating apparatus 50 according to the present embodiment, the rotation center P of the right and left eyeballs is set to a position shifted by a predetermined distance d from the middle point M of the length D in the front-rear direction of the eyeball. The Thereby, the rotational movement of the right and left eyeballs approximates the movement of the human eye.

  In the present embodiment, the CPU 501 corresponds to an acquisition unit, a setting unit, and a control unit.

(Derivation experiment of the rotation center position of the eyeball)
In order to derive the position of the rotation center of the human eyeball, the following experiment using MRI (nuclear magnetic resonance imaging) was performed.

  FIG. 14 is a schematic diagram showing a method for deriving the rotation center position. The subject 200 entered the MRI apparatus 300, and the line-of-sight presentation sheet 400 was pasted on the wall surface in front of the subject 200 in the MRI apparatus 300. As subjects 200, a total of three Japanese women with healthy vision were employed.

  According to the human anthropometric data in 2003 of the Human Life Engineering Research Center, the average interpupillary distance of adult Japanese women is 62.3 cm, and the interpupillary distances of the three subjects 200 in this experiment are The average value was 62.0 cm.

  The straight line distance between the wall surface of the MRI apparatus 300 and the center (upper nose) between both eyes of the subject 200 was about 25 cm as an average value of three persons.

  FIG. 15 is a diagram showing the line-of-sight presentation sheet 400 used in the rotation center position derivation experiment. On the line-of-sight presentation sheet 400, a plurality of points are drawn at intervals of 5 cm in the horizontal direction, the vertical direction, and the oblique 45-degree direction with the position in front of the center between both eyes of the subject 200 as the center.

  The signs T and B of the line-of-sight presentation sheet 400 indicate the top and bottom of the visual field of the subject 200, the signs L and R indicate left and right, the signs LT and LB indicate upper left and lower left, and the signs RT and RB are Upper right and lower right are shown.

  From the center point “0” to the left and right points “7” are added in the horizontal direction, and from the center point “0” to the top and bottom points “4”, respectively, from the center point “0”. Are assigned up to the point “3” from the center point “0” to the upper left, lower left, upper right, and lower right.

  The conditions of the MRI apparatus 300 were set so that the entire eyeball of the subject 200 could be imaged. The subject 200 gazes for about 30 seconds per point, and the MRI apparatus 300 images the cross section of the head of the subject 200 at this time.

  The following scan was performed in order to efficiently examine the state of rotation of the eyeball when the subject's eye 200 moved.

  First, when moving the line of sight in the horizontal direction, MRI of both eyes was acquired simultaneously. The subject 200 gazes one point leftward and rightward from the central point “0” to the left and right visible points, and MRI of both eyes of the subject 200 was obtained for each gaze at each point. Further, the left and right visible points of the two subjects 200 were the point “7”, and the left and right visible points of the one subject 200 were the point “5”. In addition, the MRI of both eyes was acquired when the subject's line of sight was rightward and leftward as much as possible.

  Next, MRI was acquired for each eye when moving the line of sight in the vertical direction. The subject 200 gazes from the center point “0” to the point “2” and the point “4” in order upward and downward, and acquires an MRI for each eye at each point. In addition, MRI was obtained for each eye when the subject's line of sight was upward and downward to the maximum.

  Furthermore, MRI was acquired for each eye even when the line of sight moved in a 45-degree direction. The subject 200 gazes at the center point “0”, the point “1”, and the point “2” in the order of the upper left direction, the lower left direction, the upper right direction, and the lower right direction, and acquires an MRI for each eye at each point. . In addition, MRI was obtained for each eye when the subject's line of sight was upward and downward to the maximum.

  FIG. 16 is a diagram showing the MRI acquired by the MRI apparatus when moving the line of sight in the horizontal direction. FIG. 17 is a diagram showing the MRI acquired by the MRI apparatus when moving the line of sight in the vertical direction.

  In all the images with different line-of-sight directions, an elliptical crystalline lens shape was clearly obtained. As shown by a solid line in FIGS. 16 and 17, the major axis of the crystalline lens was obtained, and a perpendicular passing through the center point of the major axis was drawn. From the intersection of the perpendicular and the front of the cornea to the intersection of the perpendicular and the retina was determined as the long axis in the front-rear direction of the eyeball. The length of the long axis in the anteroposterior direction was defined as the length of the eyeball in the anteroposterior direction.

  FIG. 18 is a diagram for explaining a method of deriving the rotation center position of the eyeball from the MRI acquired by the MRI apparatus.

  As described above, after drawing the longitudinal axis L1 of the eyeballs 110R and 110L in the plurality of MRIs, the plurality of MRIs are normalized based on the overall shape of the head 100 of each MRI. Then, at least two MRIs obtained when moving the line of sight in the horizontal direction are superimposed. The intersection point of the major axes L1 of the plurality of superimposed MRIs is obtained as the rotation center P.

  Similarly, at least two MRI obtained at the time of vertical line-of-sight movement are superimposed. The intersection point of the major axes L1 of the plurality of superimposed MRIs is obtained as the rotation center P. In addition, at least two MRIs obtained when moving the line of sight in an oblique 45 degree direction are superimposed. The intersection point of the major axes L1 of the plurality of superimposed MRIs is obtained as the rotation center P.

  As a result, the center of rotation of the eyeball was shifted by 2.5 mm from the midpoint of the long axis in the front-rear direction of the eyeball to the back side.

  FIG. 19 is a diagram for explaining a method of deriving the maximum rotation angle of the eyeball from the MRI acquired by the MRI apparatus.

  As shown in FIG. 19, the normalized MRI when the subject 200 gazes at the point “0” and the normalized MRI when the subject's 200 line of sight is directed to the right are overlapped. Then, in the two superposed MRIs, the angles formed by the major axes L1 of the right and left eyeballs are respectively determined as the maximum rotation angles of the right and left eyeballs when moving in the right direction. Similarly, the maximum rotation angles of the right and left eyeballs when moving in the left direction are obtained.

  In addition, by superimposing the normalized MRI when the subject 200 gazes at the point “0” and the normalized MRI when the subject's 200's line of sight is maximum upward, the right when moving the upward line of sight And obtain the maximum rotation angle of the left eyeball. Similarly, the maximum rotation angles of the right and left eyeballs when the downward line of sight is moved are obtained.

  As a result, the maximum rotation angles of the right eyeball and the left eyeball when moving in the rightward direction are about 53 degrees and about 48 degrees, respectively, and the maximum rotation angle of the right eyeball and the left eyeball when moving in the leftward direction Were about 48 degrees and about 53 degrees, respectively.

  Further, the maximum rotation angle of the right eyeball and the left eyeball when moving in the upward line of sight is both about 40 degrees, and the maximum rotation angle of the right eyeball and left eyeball when moving in the downward direction is both about 53 degrees. It became.

  The present invention can be used for robots, image creation, and the like.

It is a schematic front view of the robot provided with the eyeball control apparatus which concerns on the 1st Embodiment of this invention. It is a cross-sectional view of the head of the robot of FIG. It is a longitudinal cross-sectional view of the robot of FIG. It is a block diagram which shows the control system of the robot of FIG. It is the typical longitudinal section which looked at the left eyeball from the side. It is the typical cross section which looked at the left eyeball from the upper part. It is the typical longitudinal section which looked at the left eyeball from the front. It is a figure for demonstrating the principle of the eyeball control operation | movement in the robot which concerns on 1st Embodiment. It is a flowchart which shows the eyeball control operation | movement of the robot which concerns on 1st Embodiment. It is a block diagram which shows the structure of the image production apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the image production apparatus of FIG. It is a schematic diagram for demonstrating the determination method of the position of the pupil in an eyeball. It is a figure which shows an example of the CG image produced by the image production apparatus which concerns on 2nd Embodiment. It is a schematic diagram which shows the method of rotation center position derivation | leading-out experiment. It is a figure which shows the gaze direction presentation paper used for the rotation center position derivation experiment. It is a figure which shows MRI acquired by the MRI apparatus at the time of a visual line movement of a horizontal direction. It is a figure which shows MRI acquired by the MRI apparatus at the time of the eyes | visual_axis movement of a perpendicular direction. It is a figure for demonstrating the method to derive | lead-out the rotation center position of an eyeball from MRI acquired by the MRI apparatus. It is a figure for demonstrating the method to derive | lead-out the maximum rotation angle of an eyeball from MRI acquired by the MRI apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 10,100 Head 11R Right eyeball 11L Left eyeball 12R, 12L Lens 14R Right eye rotation drive device 14L Left eye rotation drive device 15 Control device 16R Right eye rotation center adjustment device 16L Left eye rotation center adjustment device 20 Neck Unit 21 Torso 50 Image creation device 61 Eye 81, 110R, 110L Eyeball 82 Crystal 140 Rotating axis 200 Subject 300 MRI total value 400 Gaze direction presentation sheet 501 CPU
502 ROM
503 RAM
504 Input device 505 Display device 506 External storage device 507 Recording medium drive device 508 Input / output interface 509 Recording medium P Rotation center

Claims (5)

An eyeball control device that controls the rotational movement of the eyeball provided on the head facing the observer,
Obtaining means for obtaining a rotation direction and a rotation angle of the eyeball;
Setting means for setting the center of rotation of the eyeball at a position shifted a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction within the eyeball;
An eyeball control device comprising: control means for rotating the eyeball based on the rotation direction and rotation angle acquired by the acquisition means and the rotation center set by the setting means. The head is a head of the robot, the eye, ocular control apparatus according to claim 1 characterized in that the eye of the robot. The head is an image of the head, the eye, ocular control apparatus according to claim 1, wherein the an image of the eye. An eyeball control method for controlling the rotational movement of an eyeball provided on a head facing an observer,
Obtaining a rotation direction and a rotation angle of the eyeball;
Setting the center of rotation of the eyeball to a position within the eyeball that is shifted a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction;
And a step of rotating the eyeball based on the acquired rotation direction and rotation angle and the set rotation center. An eyeball control program that can be executed by a computer to control the rotational movement of the eyeball provided on the head facing the observer,
Processing for obtaining a rotation direction and a rotation angle of the eyeball;
A process of setting the center of rotation of the eyeball at a position shifted a predetermined distance from the midpoint of the length of the eyeball in the front-rear direction within the eyeball;
An eyeball control program that causes the computer to execute a process of rotating the eyeball based on the acquired rotation direction and rotation angle and the set rotation center.

Images