A design of the electromagnetic driver for the &amp;#x201C;internal force-static friction&amp;#x201D; capsubot

Su, Gang; Zhang, Cheng; Tan, Renjia; Li, Hongyi

doi:10.1109/iros.2009.5354587

Cited by 16 publications

(10 citation statements)

References 7 publications

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“…Using vibration-driven mechanism, several complications induced by external driving mechanism (wheels, chain tracks, or legs) can be avoided [8,9]. The vibration-driven locomotion systems have been widely investigated from many aspects, including modeling and theoretical analysis and control [10][11][12][13], design and experimental implementation [14][15][16][17]. Several experimental platforms have been developed, employing centripetal forces generated by platform-mounted vibration micro-motors [14], electromagnetic force induced in voice coil motor [15,16], centrifugal forces of a couple-pendulum [17].…”

Section: Introductionmentioning

confidence: 99%

“…The vibration-driven locomotion systems have been widely investigated from many aspects, including modeling and theoretical analysis and control [10][11][12][13], design and experimental implementation [14][15][16][17]. Several experimental platforms have been developed, employing centripetal forces generated by platform-mounted vibration micro-motors [14], electromagnetic force induced in voice coil motor [15,16], centrifugal forces of a couple-pendulum [17]. The common issue of such vibration-driven systems is that, a complex control for the inertial mass motion is necessary to obtain the desired progression of the system [10,15].…”

Section: Introductionmentioning

confidence: 99%

“…Several experimental platforms have been developed, employing centripetal forces generated by platform-mounted vibration micro-motors [14], electromagnetic force induced in voice coil motor [15,16], centrifugal forces of a couple-pendulum [17]. The common issue of such vibration-driven systems is that, a complex control for the inertial mass motion is necessary to obtain the desired progression of the system [10,15]. Moreover, the problem for the large-scale mobile platforms also make difficult to miniaturize the platform.…”

Section: Introductionmentioning

confidence: 99%

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A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Duong

Nguyen

2018

MATEC Web Conf.

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Abstract. This report describes a new proposed design for autogenous mobile systems which can move without any external mechanisms such as legs or wheels. A Duffing oscillator with a cubic spring, which is excited by an impulse periodic force, is utilized to drive the whole system. The rectilinear motion of the system is performed employing the periodically oscillation of the internal mass interacting without collisions with the main body. Utilizing the nonlinear restoring force of the cubic spring, the system can move in desired directions. When the ratio between the excitation force and the friction force is smaller than 2.5, backward or forward motion can be easily achieved by applying an excitation force in the same desired direction. Different from other vibro-impact drifting devices, no impact needed to drive the new proposed system. This novel structure allows to miniaturize the device as well as to simplify the control algorithm thus can significantly expand applicability of the proposed system.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Duong

Nguyen

2018

MATEC Web Conf.

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“…These years, various useful researches come forth for finding out an effective way to carry out the motion in gastrointestinal tract, e.g. the inchworm-like mechanism developed by Dario [2], Kim [3] the shape memory alloy-based actuator for the legged endoscopic capsule by Gorini [4], the external magnetic field driven actuator by Sendoh [5], and the "internal force-static friction" capsubot by Li [6].…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot

Tan

Líu

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

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-Active capsule robots are studied widely all over the world, and various prototypes have been devised, e.g. the "internal force-static friction" capsule robot. During the previous research on this capsubot, we have found that the intestine's resistance characteristic is of great importance to both the design and motion control of the capsubot, however, there are very few studies on the viscoelasticity of the small intestine, and that may make the main causality of the capsubot's motion failure. In this work, experiments are performed based on two different methods: the stress relaxation on the self-made measurement system, and the shear measurement on the dynamic mechanical analyzer (DMA). As a result, we obtain a five-element model, describing the viscoelasticity of intestines, and find that the relaxation modulus varies with the range of strain. The DMA test indicates that the storage modulus descends with the increasing shear strain, which means the hyper-elasticity of small intestine can be measured numerically. Also the strain energy density and stress-strain hysteresis loops can be obtained. This work paves the way for the modeling of intestine and the finite element analysis (FEA) in the future.Index Terms -capsule robot, viscoelasticity, intestine, stress relaxation, dynamic mechanical analysis.

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“…The capsule robot was able to swim horizontally at an approximate speed of 40mm/s inside the colon of the pig [3]. Li et al proposed a novel active capsule endoscope, called "internal force-static friction capsule robot (capsubot)", whose normal speed on the table was 45.8mm/s [4]. Besides, other locomotion principles such as an earthworm-like method [5], gasbag, have been studied for a while.…”

mentioning

confidence: 99%

Thermal analysis of the “internal force-static friction” capsule robot

Shao

Líu

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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Currently, various active capsule endoscopes have been developed to overcome the disadvantages of passive locomotion. Most of them are driven by electric motor or other actuators that need more energy, which will raise temperature and result in potential dangers. The high temperature will not only hurt the intestinal wall and tissue, but also affect the performance of electronic device embedded. In this paper, we focus on the thermal analysis of a novel active capsule endoscope called "internal force-static friction capsule robot (capsubot)". The thermal distribution of the capsubot is calculated with the Finite Element Analysis (FEA) tools and the results are verified by experiments. Medical data on allowable temperature is referred and 43°C is selected as the thermal threshold of biological safety for the small intestine. The results show that the temperature of the whole capsubot is below 41°C, thus the capsubot is safe for human and the components embedded can work normally.

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A design of the electromagnetic driver for the “internal force-static friction” capsubot

Cited by 16 publications

References 7 publications

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot

Thermal analysis of the “internal force-static friction” capsule robot

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A design of the electromagnetic driver for the &#x201C;internal force-static friction&#x201D; capsubot

Cited by 16 publications

References 7 publications

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot

Thermal analysis of the &#x201C;internal force-static friction&#x201D; capsule robot

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Product

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A design of the electromagnetic driver for the “internal force-static friction” capsubot

Thermal analysis of the “internal force-static friction” capsule robot