title: Interaction model between capsule robot and intestine based on nonlinear viscoelasticity.
abstract: Active capsule endoscope could also be called capsule robot, has been developed from laboratory research to clinical application. However, the system still has defects, such as poor controllability and failing to realize automatic checks. The imperfection of the interaction model between capsule robot and intestine is one of the dominating reasons causing the above problems. A model is hoped to be established for the control method of the capsule robot in this article. It is established based on nonlinear viscoelasticity. The interaction force of the model consists of environmental resistance, viscous resistance and Coulomb friction. The parameters of the model are identified by experimental investigation. Different methods are used in the experiment to obtain different values of the same parameter at different velocities. The model is proved to be valid by experimental verification. The achievement in this article is the attempted perfection of an interaction model. It is hoped that the model can optimize the control method of the capsule robot in the future.
authors: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China.
authors: Cheng
authors: C
authors: Zhang
authors: Hao
authors: H
authors: Liu
authors: Renjia
authors: R
authors: Tan
authors: Hongyi
authors: H
authors: Li
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena / Q000502:physiology*; D053705:Capsule Endoscopes; D004548:Elasticity / Q000502:physiology; D004867:Equipment Design; D007421:Intestine, Small / Q000502:physiology*; D008954:Models, Biological; D017711:Nonlinear Dynamics; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D013552:Swine; D014783:Viscosity
keywords: Interaction model; capsule robot; dynamic mechanical analyzer; intestine; nonlinear viscoelasticity