Testing of eye tracking devices is done by humans looking at well defined stimuli. This way of testing eye trackers is not accurate enough because of human errors. The goal of this thesis is to design and construct reliable robotic eyes that can mimic the behaviour of human eyes. After a pre-study where human eyes, eye tracking and previous robotic eyes were studied, system requirements and specifications were formulated. Based on the re-quirements important design decisions were taken such as the use of RC servo motors, push rods, microcontrollers and a Raspberry Pi. Later the inverse kinematics of the movements and a saccade’s path planing were modelled. Additional mechanical de-sign features are rotation of the head and adjustment of the interpupillary distance. The robot is controlled using two types of application programming interfaces (APIs.) The first API is used to control the motors and the second API builds on top of the first API but is used to design paths of different eye movements between fixation points. All eye movement calculations are computed on the Raspberry Pi before the movements are communicated in real time to the microcontroller which directly performs the control signal. The robot was tested using the integrated lasers in the eyes and a video cam-era with slow motion capabilities to capture the projected laser dot on a wall. The properties tested are saccade, smooth pursuit, head rotation and eye tracking device compatibility. The results show high precision but not enough accuracy. The robot needs a few mechanical improvements such as removing the backlash in the rotat-ing joints on the eyes, decreasing the flexibility of some of the 3D printed parts and assuring symmetry in the design. The robot is a powerful testing platform capa-ble of performing all eye movement types with high-resolution control of both eyes independently through an API. ; Eyetracking utrustning testas av människor som tittar på väldefinierade stimuli. Att testa eyetracking på det här sättet är inte tillräckligt noggrant ...


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    Title :

    Robot mimicking human eye movements to test eye tracking devices ; Robot som härmar mänskliga ögonrörelser för att testa eye tracking utrustning


    Contributors:

    Publication date :

    2018-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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