Date of Completion


Embargo Period



optimal control robotics mechatronics sensorimotor

Major Advisor

John D. Enderle

Associate Advisor

Monty A Escabi

Associate Advisor

Patrick D Kumavor

Field of Study

Biomedical Engineering


Doctor of Philosophy

Open Access

Campus Access


To further investigate theoretical concepts associated with sensorimotor control and brain-machine integration, the design and development of a robotic ophthalmotrope for the purpose of producing controlled, multidimensional eye and head movements is proposed.

Central to this research is the implementation of a biomimetic, optimal control strategy used to precisely orient a CCD camera to rapidly acquire a target of interest and pursue its trajectory in real time.

Unlike any of its predecessors, Robophthalmotrope will be the first intelligent mechatronic design to produce finely graded 3-D ocular rotations with the agonist and antagonist control actuation separately maintained. Moreover, it will be shown that the incorporation of a linear muscle model for biomimetic force generation is an ideal candidate for robotic applications.

This work relies heavily on a unified framework for integrating a multitude of engineering disciplines in conjunction with anatomical and physiological evidence to achieve a common thread of concurrent, mixed-system design.

The multidisciplinary nature of this project benefits a number of important research areas. First, insight pertaining to 3-D oculomotor control and the diagnosis of pathological disorders such as strabismus can be further investigated. Second, it provides a guideline on how linearized, physiological models can serve as a basis for controlled actuation in robotic applications. Third, human-like motor movements have important implications in the field of service and sociable robotics. Finally, through the development of Robophthalmotrope’s biomimetic neuromuscular control strategy, a new generation of brain-machine interface technology could be developed for the prospect of novel prosthetic device design.

Available for download on Wednesday, May 05, 2021