Capsule endoscopes have gained popularity over the last decade as minimally invasive
devices for diagnosing gastrointestinal abnormalities such as colorectal cancer. While this …

While in vivo robotic locomotion has demonstrated its potential through a number of means,
sensing and closed-loop control for such devices have not been at the forefront of research …

Colonoscopy is the leading preventative procedure for colorectal cancer. The traditional tool
used for this procedure is an endoscope, which can cause patient discomfort, pain and fear …

The work of adhesion and work of separation are characteristic properties of a contact
interface that describe the amount of energy per unit area required to adhere or separate …

Objective: A capsule robot (CR) with an onboard active locomotion mechanism, has been
developed as a promising alternative to colonoscopy due to its minimally-invasive …

Non-invasive colonoscopy is an important procedure to find the malignant tumor of large
intestine in its early stage. Micro mimetic robot shows a potential advantage to perform the …

Robotic capsule endoscopy (RCE), where a robotically controlled capsule endoscope is
used to navigate the gastrointestinal tract, is a developing technology currently hindered by …

The objective of this work is to validate an experimental method and nondimensional model
for characterizing the normal adhesive response between a polyvinyl chloride based …

Numerous biomimetic structures made from elastomeric materials have been developed to
produce enhancement in properties such as adhesion, static friction, and sliding friction. As …

A representative volume element (RVE) model was developed to understand how the
adhesion response between an effectively rigid substrate with micro-pillar arrays and a …