Title :
Development of a peristaltic endoscope
Author :
Mangan, Elizabeth V. ; Kingsley, Dan A. ; Quinn, Roger D. ; Chiel, Hillel J.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA
fDate :
6/24/1905 12:00:00 AM
Abstract :
A device that could locomote through curving and tortuous spaces would find many applications in medicine and in industry. Invertebrates such as earthworms and leeches can solve this problem using peristaltic locomotion. We describe a device consisting of three braided pneumatic actuators in series that can successfully locomote peristaltically. The device can locomote forwards and backwards in elevated and curving tubes, and with a plastic sheath around it.
Keywords :
actuators; biomedical equipment; mobile robots; motion control; pneumatic control equipment; braided pneumatic actuators; curving tubes; elevated tubes; medical equipment; mobile robot; peristaltic endoscope; peristaltic locomotion; Aerospace engineering; Aerospace industry; Bladder; Contracts; Endoscopes; Medical diagnostic imaging; Muscles; Organisms; Pneumatic actuators; Prototypes;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013385
