Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device

The present paper introduces a stepwise locomotion of a micro robot using the shear displacement of a deformable object by a pneumatic suction device. We consider a locomotion function of a micro robot for medical application. A medical micro robot introduced into the abdominal cavity has been investigated as an extension of endoscopic technology. A micro robot with a locomotion function can be made to move within the body when performing medical examinations or surgery. The proposed locomotion mechanism employs suction devices in order to provide a shear displacement as well as stable contact with the object. The proposed stepwise locomotion mechanism does not require an additional stretching actuator for inchworm motion. The present paper describes the design, implementation, characterization, and demonstration of a micro robot based on the proposed locomotion principle. The micro robot will successfully demonstrate one-dimensional, two-dimensional, and diagonal movements, and an in vitro experiment will be conducted as a representative medical application.