Modelling 3D saccade generation by feedforward optimal control
Fig 1
Left: Frontal view of the extra-ocular muscles of the right human eye, rotated by about 20 deg leftward from the primary (+x) direction—MR (Medial Rectus), LR (Lateral Rectus), SR (Superior Rectus), IR (Inferior Rectus), SO (Superior Oblique), IO (Inferior Oblique). Right: Schematic of the muscle rotation axes, when starting from the primary direction. Right-hand (x, y, z) convention. The ML/LR muscles mainly rotate the eye horizontally (Z-direction). The IR/SR, and the IO/SO muscle pairs induce both vertical (y) and cyclotorsional (x) rotation components. The superior and inferior obliques (SO/IO) divert their pulling trajectories medially: the IO is attached to the medial side of the orbit, while the SO is diverted through a medial pulley, called the trochlea.