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Title: Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
Abstract This paper introduces a magneto-electroactive endoluminal soft (MEESo) robot concept, which could enable new classes of catheters, tethered capsule endoscopes, and other mesoscale soft robots designed to navigate the natural lumens of the human body for a variety of medical applications. The MEESo locomotion mechanism combines magnetic propulsion with body deformation created by an ionic polymer-metal composite (IPMC) electroactive polymer. A detailed explanation of the MEESo concept is provided, including experimentally validated models and simulated magneto-electroactive actuation results demonstrating the locomotive benefits of incorporating an IPMC compared to magnetic actuation alone.  more » « less
Award ID(s):
1830958
PAR ID:
10198769
Author(s) / Creator(s):
; ; ; ;
Date Published:
Journal Name:
Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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