Locomotion enhancement of an inchworm‐like capsule robot using long contact devices

Abstract

BACKGROUND: The inchworm-like capsule robot (CR), which consists of two anchoring mechanisms (AMs) and an extensor, is a promising device for exploring the human intestine. However, the slippery intestinal lumen can cause anchoring slippage and the visco-elastic intestine and mesentery can cause stroke loss, which both lower its locomotion performance. METHODS: This paper proposes a method for locomotion enhancement by optimizing the lengths of the contact devices that are installed at the tips of the AM. RESULTS: Theoretical analysis showed that a longer contact device was more beneficial to avoid slippage and reduce stroke loss, hence enhancing locomotion, which was then verified by ex vivo experiments. The 34.5 mm long contact devices enabled a locomotion efficiency of 54%, while it was only 21% when employing 5 mm long contact devices. CONCLUSIONS: The inchworm-like CR using long contact devices can enable a more efficient inspection of the intestine. Copyright © 2016 John Wiley & Sons, Ltd.