title: 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.
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Jinyang
authors.initials: J
authors.lastname: Gao
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Guozheng
authors.initials: G
authors.lastname: Yan
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Zhiwu
authors.initials: Z
authors.lastname: Wang
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Fei
authors.initials: F
authors.lastname: Xu
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Wei
authors.initials: W
authors.lastname: Wang
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Pingping
authors.initials: P
authors.lastname: Jiang
authors.affiliation: Department of Instrument Science, Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China.
authors.forename: Dasheng
authors.initials: D
authors.lastname: Liu
mesh_terms: D000818:Animals; D000845:Annelida / Q000502:physiology*; D032701:Biomimetics / Q000295:instrumentation*; D053704:Capsule Endoscopy / Q000295:instrumentation*; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D009038:Motion; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D014159:Transducers
keywords: capsule robot; contact device; locomotion efficiency; stroke loss