Soft-Robotic Peristaltic Pumping Inspired by Esophageal Swallowing in Man

摘要: The demand for novel actuation and sensation technologies has seen the emergence of biomimetic engineering field where inspiration is drawn from phenomena observed in nature. Soft robotic techniques are particularly suitable physical modeling this area as they can be designed to manifest features such mechanical compliance continuity. process peristalsis common many organisms locomotion or pumping transport fluid semi-solid materials. This research initiative looks into how esophageal phase swallowing communicated domain that a model esophagus developed. resulting device soft-robotic nature, asserted by pneumatic on silicone rubber conduit. continuous nature output, its perturbation throughout present some interesting trajectory generation control challenges. design well embodiment intelligence described.