The small intestine, an anatomical site previously considered inaccessible to clinicians due
to its small diameter and length, is the part of the gastrointestinal tract between the stomach …

Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …

Wireless capsule endoscopes are becoming prevalent in the medical field as screening,
diagnostic and therapeutic tools within the gastrointestinal (GI) tract. However, state-of-the …

This paper studies the dynamic frictional interactions of the underactuated vibro-driven
capsule systems with the viscoelastic property. Frictional dynamics of the capsule systems is …

A magnetically controlled capsule endoscopy has a broad application for the detection of
gastrointestinal diseases. The frictional resistance between a capsule and an intestine will …

Motivated by the desire to optimally control the friction-induced stick-slip locomotion and
sufficiently improve the energy efficacy, a novel trajectory synthesis and optimization …

There are serious friction damage problems that few studies have focused on when
conveying endoscope to the lesion locations. In this paper, the friction behavior between …

One of the most important reasons that make the capsule robot cannot be used in clinic is
the absence of its mechanical model, especially when the capsule robot moves at a constant …

A control of friction characteristics between self-propelled robotic system and gastrointestinal
tissues plays a key role in achieving active locomotion. Fabrication of micropatterns on soft …

An inchworm-like capsule robot (ILCR) is a promising device for a minimally invasive
diagnosis and treatment of colon diseases. It consists of two expanders and one extensor …