Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 2, Issue 3, Pages 1718-1724Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2017.2678540
Keywords
Biologically-inspired robots; medical robots and systems; soft material robotics
Categories
Funding
- EPSRC [EP/N508986/1]
- Engineering and Physical Sciences Research Council [1805783, EP/N508986/1] Funding Source: researchfish
- EPSRC [1805783] Funding Source: UKRI
Ask authors/readers for more resources
This letter introduces the design and evaluation of a novel worm-inspired, multisegment robotic endoscope with multiple degrees of freedom segments. The novelty of this design is that the robot is able to drive forwards and backwards, anchor itself, steer while inside a tubular structure and control the orientation of an end-mounted camera all by bending its flexible segments. The mechanical design is shown and a sensing system based on Hall Effect sensors is incorporated. In a simulated colon, a top speed of 1.21 mm/s was achieved, equivalent to roughly 38% of the theoretical maximum. These results are discussed and further improvements are suggested, followed by general concluding remarks.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available