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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Sinusoidal Peristaltic Waves in Soft Actuator for Mimicry of Esophageal Swallowing
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Sinusoidal Peristaltic Waves in Soft Actuator for Mimicry of Esophageal Swallowing

机译：软致动器中的正弦蠕动波模仿食管吞咽。

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摘要

In order to understand fluid transport throughout esophageal swallowing in man, a biologically inspired soft-robotic peristaltic actuator has been designed and manufactured to perform biomimetic swallowing. To achieve congruence with current mathematical modeling techniques for esophageal peristalsis, this paper examines the capability of the device (empirical) towards achieving sinusoidal transport waves with variations of clinically significant parameters such as amplitude and wavelength. The performance of the device to fit the commanded trajectory, by minimization of mean squared error, is tested over the range of wavefront length 30 60 mm and amplitude 6–8 mm in a two-dimensional capability analysis. It is found that the device is capable of achieving propagation of families of wave shapes with less than 5% full scale mean error, which improves for increasing wavefront length and reducing amplitude. The aim for the device in the future is to inspire a novel rheometric technique in the physical domain which characterizes fluid formulations based on intrabolus pressure signatures. This analysis expresses the trajectory generation technique and performance of the novel device to produce continuous peristaltic waves towards biomimetic swallowing.
机译：为了理解人体食道吞咽过程中的液体运输，已设计并制造了一种具有生物学启发性的软机器人蠕动促动器，以进行仿生吞咽。为了与当前的食道蠕动数学建模技术保持一致，本文研究了该装置（经验性）实现具有临床上重要参数（例如振幅和波长）变化的正弦形传输波的能力。通过在二维能力分析中，在30 60 mm的波前长度和6-8 mm的波幅范围内，通过最小化均方误差，对设备适应指令轨迹的性能进行了测试。发现该设备能够以小于5％的满量程平均误差实现波形族的传播，从而为增加波前长度和减小幅度而进行了改进。未来该设备的目的是在物理领域中激发出一种新颖的流变技术，该技术可基于弹丸内压力特征来表征流体配方。该分析表达了轨迹产生技术和该新型装置向仿生吞咽产生连续蠕动波的性能。

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