Magnetic particles for deformable robot maneuvered in a confined environment

这项研究提出了一种先进的运动方法，在消化器官和腹腔中产生非滑动运动。提出了一种新的机器人运动原理，该机器人具有一个可在有限空间内运动的柔性变形体，并将玩具水蛇机构应用于该原理。水气球内的磁性颗粒受到外部磁场的影响，并将气球的内侧推向磁场的方向。为了验证所提出的原理，我们构造了一个实验模型，并利用该模型测量了滑动运动.在模拟人体内脏器官的两张纸上进行了运动模拟实验。

This research presents an advanced locomotion method that produces non-slippingmotion in digestive organs and the abdominal cavity. New movement principle of the robot,which has a soft and deformable body that can move through a confined space is proposed.The mechanism of a toy water snake is applied to this principle. Magnetic particles insidethe water balloon are affected by the external magnetic field and push the inner side of a balloon to the direction of a magnetic field. We construct an experimental model to verifythe proposed principle, the sliding movement is measured using the model. Confirmatoryexperiments of movement are conducted in the two sheets that imitated internal organs.