Design, analysis, and testing of a motor-driven capsule robot based on a sliding clamper

SUMMARY We propose a motor-driven capsule robot based on a sliding clamper (MCRSC), a device to explore the partially collapsed and winding intestinal tract. The MCRSC is powered by wireless power transmission based on near-field inductive coupling. It comprises a novel locomotion unit, a camera, and a three-dimensional receiving coil, all installed at both ends of the locomotion unit. The novel locomotion unit comprises a linear motion...