Micro-Pillar Mechanics

Abstract: In this study, an experimental platform is developed to quantitatively measure the performance of robotic wheel treads in a dynamic environment. The platform imposes a dynamic driving condition for a single robot wheel, where the wheel is rotated on a translating substrate, thereby inducing slip. The normal force of...

Abstract: The state-of-the-art technology for gastrointestinal (GI) tract exploration is a capsule endoscope (CE). Capsule endoscopes are pill-sized devices that provide visual feedback of the GI tract as they move passively through the patient. These passive devices could benefit from a mobility system enabling maneuverability and controllability. Potential benefits of...

Abstract: Despite revolutionary advances in many fields of medicine, there are no active mobile in vivo devices commercially available, or in use, today. Several research groups are actively looking at a number of mobility methods in a number of lumens but little commercial work has been done. While robotic surgery...