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

BackgroundThe 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. MethodsThis paper proposes a method for locomotion enhancement by optimizing the lengths of the contact devices that are installed at the tips of the AM. ResultsTheoretical 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 34.5mm long contact devices enabled a locomotion efficiency of 54%, while it was only 21% when employing 5mm long contact devices. ConclusionsThe inchworm-like CR using long contact devices can enable a more efficient inspection of the intestine. Copyright (c) 2016 John Wiley & Sons, Ltd.