Control Strategy of Vibrational Capsubot in Viscoelastic Environment


Active capsule endoscopy is becoming a research hotspot in recent years. We design an active capsule robot (capsubot) with the vibrational mode. The internal force-static friction control strategy which is used in the capsubot is effective in rigid environment but not in viscoelastic environment. A particular viscoelastic material whose parameters are confirmed is set to the viscoelastic environment. We suppose that it is a periodic damped oscillation system when the capsubot make a free vibration in the environment. We propose a new control strategy whose principle is similar to a swing in the environment. The simulation results show that the new strategy is effective.


Share and Cite:

Zhang, C. , Tan, R. , Liu, H. and Li, H. (2013) Control Strategy of Vibrational Capsubot in Viscoelastic Environment. Engineering, 5, 424-428. doi: 10.4236/eng.2013.510B087.

Conflicts of Interest

The authors declare no conflicts of interest.


[1] “Principles and Clinical Application of Capsule Endoscopy System,” Science Press, 2010, pp. 144-154.
[2] J.-Y. Zuo and G.-Z. Yan, “A Multi2unit Creeping Robot Based on Earthworm Principle,” ROBOT, Vol. 7, 2004, pp. 320-324.
[3] P. Dario, M. C. Carrozza, Lencioni, et al., “A Micro Robotic System for Colonoscopy,” IEEE International Conference on Robotics and Automation, Albupuerque, New Mexico, 1997, pp. 1567-1572.
[4] D. Peirs Jreynaerts and H. Van Brussel, “Design of Miniature Parallel Manipulators for Intergration in a Self-Propelling Endoscope,” Sensors and Actuators, Vol. B85, pp. 409-417.
[5] X.-Y. Jian, T. Mei, X.-H. Wang, “Driving Method of an Endoscopic Robot Capsule by External Magnetic Field,” ROBOT, Vol. 27, No. 4, 2005, pp. 367-372.
[6] Olympus Medical System Corporation, “Development of Capsule Endoscope and Peripheral Technologies for Further Expansion and Progress in Endoscope Applications.”
[7] Y. S. Zhang, Z. G. Li, S. P. Jing, et al., “Characteristics of Magnetic Tensile Force along Axial Direction of a Capsule Micro Robot Applied in Intestine,” Chinese Mechanical Engineering, Vol. 18, No. 14, 2007, pp. 1709-1713.
[8] M. Sendoh, K. Ishiyama and K. I. Arai, “Fabrication of Magnetics Actuator for Use in a Capsule Endoscope,” IEEE Transactions on Magnetics, Vol. 39, 2003, pp. 3232-3234.
[9] A. Moglia, A. Menciassi, M. Schurr and P. Dario, “Wireless Capsule Endoscopy: From Diagnostic Decices to Multipurpose Robotic System,” Biomed Microdevis, Vol. 9, 2007, pp. 235-243.
[10] M. Quirini, R. J. Webster III, A. Menciassi and P. Dario, “Design of A Pill-Sized 12-Legged Endoscopic Capsule Robot,” IEEE International Conference on Robotics and Automation, Roma, 2007, pp. 1856-1862.
[11] G. Su, C. Zhang, R. J. Tan and H. Y. Li, “A Design of the Electromagnetic Driver for the “Internal Force-Static Friction,” Capsubot, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 613-617.
[12] H. Y. Li, K. Furuta and F. L. Chernousko, “Motion Generation of the Capsubot Using Internal Force and Static Friction,” IEEE Conference on Decision and Control, 2006, pp. 6575-6580.
[13] “Principles of Polymer Engineering,” 2nd Edition, Oxford University Press, 1997, pp. 117-176.

Copyright © 2024 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.