Design and Development of a Novel Bio-inspired Worm-type Soft Robot for In-pipe Locomotion

Dewapura, Jalitha I.; Hemachandra, Pasindu S.; Dananjaya, T. M.; Awantha, W. V. I.; Wanasinghe, Ashan T.; Kulasekera, Asitha L.; Chathuranga, Damith Suresh; Dassanayake, Vpc

doi:10.23919/iccas50221.2020.9268402

Cited by 4 publications

(8 citation statements)

References 11 publications

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Section: Figurementioning

confidence: 99%

“…For surface crawling, pneumatic actuators facilitate telescopic movement of the robot segment, whereas the electricdriven SMA can be programmed to control the telescopic motion of various SMAs on the same segment to achieve straight-line crawling or steering crawling (Zhang et al, 2021c). Currently, the most prominent application scenario for hybrid-driven robots is soil drilling (Dewapura et al, 2020) (Omori et al, 2010;Omori et al, 2013;Nakatake et al, 2016;Isaka et al, 2019;Tokoi et al, 2021;Vartholomeos et al, 2021), and the basic structure is basically similar to that depicted in Figure 16A. The electrically controlled drill can dig forward, whereas the pneumatic actuator can compact the soil and form a certain diameter pipe channel, in addition to transporting the entire robot forward.…”

Section: Hybrid-drivenmentioning

confidence: 99%

“… 1. Inspired by the continuous peristaltic movement of earthworms, such robots can achieve multimodal movement, that is, it can use the same form of locomotion to travel through long pipelines ( Consumi et al, 2022 ), mud ( Dewapura et al, 2020 ) or on surface ( Yu et al, 2022 ). Although there are some robots that advance by vibration ( Tang et al, 2022 ), such robots can produce a certain degree of expansion and contraction in segment deformable designs.…”

Section: Biological Characteristics Of Earthworms and Related Robots ...mentioning

confidence: 99%

“…In recent years, earthworm-inspired soft robots have garnered tremendous attention owing to its peristaltic locomotion characteristics with motion stability and adaptability for executing unstructured motion scenarios. Nowadays, earthworm-inspired soft robots have been extensively developed, with key application scenarios involving in-pipe inspection ( Consumi et al, 2022 ), soil drilling ( Dewapura et al, 2020 ), medical endoscopy ( Wang et al, 2009 ), surface crawling ( Yu et al, 2022 ), etc.…”

Section: Introductionmentioning

confidence: 99%

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Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

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Section: Figurementioning

confidence: 99%

Section: Hybrid-drivenmentioning

confidence: 99%

Section: Biological Characteristics Of Earthworms and Related Robots ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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“…Endoworm is a semiautomatic soft robot device [ 10 , 11 , 12 , 13 ], which is mounted on a conventional endoscope and allows exploration of the small intestine. It consists of a pneumatic translation system of inflatable cavities governed by a microcontroller-based electronic device.…”

Section: Introductionmentioning

confidence: 99%

Classification Predictive Model for Air Leak Detection in Endoworm Enteroscopy System

Zazo-Manzaneque

Pons

Vidaurre

et al. 2022

Sensors

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Current enteroscopy techniques present complications that are intended to be improved with the development of a new semi-automatic device called Endoworm. It consists of two different types of inflatable cavities. For its correct operation, it is essential to detect in real time if the inflatable cavities are malfunctioning (presence of air leakage). Two classification predictive models were obtained, one for each cavity typology, which must discern between the “Right” or “Leak” states. The cavity pressure signals were digitally processed, from which a set of features were extracted and selected. The predictive models were obtained from the features, and a prior classification of the signals between the two possible states was used as input to different supervised machine learning algorithms. The accuracy obtained from the classification predictive model for cavities of the balloon-type was 99.62%, while that of the bellows-type was 100%, representing an encouraging result. Once the models are validated with data generated in animal model tests and subsequently in exploratory clinical tests, their incorporation in the software device will ensure patient safety during small bowel exploration.

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