DocumentCode
3570081
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
Volume
1
fYear
2002
fDate
6/24/1905 12:00:00 AM
Firstpage
347
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013385
Filename
1013385
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