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For many medical applications, it is necessary to sample and test the internal environment nondestructively, such as sampling the gastric juice and evaluating the intestinal microbiome. In this paper, we propose a novel soft capsule robot for sampling gastric juice based on rigid origami, which can be opened through magnetic actuation. The application of the origami pattern in the capsule robot reduces deformation and stress at each compliant joint when the capsule robot undergoes configuration transformation. Then we conduct kinematic analysis of the capsule-shape origami pattern, and verified that the origami pattern is a rigid-foldable 1-DOF origami pattern. Finally, through the preliminary experiment on the robot prototype, we verified the ability of the proposed robot for the required sampling task.

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Motion Characteristics of a Novel Capsule Robot for Sampling Gastric Juice Based on Origami

  • 会议论文

  • 发表日期：

    2025年

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  • Long Huang,
  • Lingling Tang,
  • Changyan He,
  • Lairong Yin,
  • Gengbiao Chen

摘要

For many medical applications, it is necessary to sample and test the internal environment nondestructively, such as sampling the gastric juice and evaluating the intestinal microbiome. In this paper, we propose a novel soft capsule robot for sampling gastric juice based on rigid origami, which can be opened through magnetic actuation. The application of the origami pattern in the capsule robot reduces deformation and stress at each compliant joint when the capsule robot undergoes configuration transformation. Then we conduct kinematic analysis of the capsule-shape origami pattern, and verified that the origami pattern is a rigid-foldable 1-DOF origami pattern. Finally, through the preliminary experiment on the robot prototype, we verified the ability of the proposed robot for the required sampling task.