Geometric Kinematics of Human Eyes

A rigid-body rotation model of a misaligned human eye decomposes full eye posture into torsion-free (geodesic) and torsional components, enabling an angular-velocity derivation from Rodrigues’ vectors.

• Why it matters: Prior binocular-vision work used Rodrigues’ vector representations and simulations, but lacked a geometric kinematics framework that separates geodesic and torsional effects under simplified eye-rotation assumptions.
• What they did: The analysis models an asymmetric eye with misaligned optical components, ignores translational movements, decomposes posture and angular velocity into geodesic and torsional parts, and derives angular velocity from the Rodrigues’ vector formulation.
• The result: The proposed decomposition and angular-velocity derivation provide a new geometric way to represent eye kinematics for misaligned optics, supporting more structured kinematic analysis within the Rodrigues’ vector framework.

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