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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Soft Actuator Mimicking Human Esophageal Peristalsis for a Swallowing Robot
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Soft Actuator Mimicking Human Esophageal Peristalsis for a Swallowing Robot

机译：仿人吞咽机器人的食管蠕动软促动器

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Provision of modified foods and drinks is one of the approaches for dysphagia management, which is based on the assumption that food with proper texture and rheological properties will allow dysphagia patients to swallow safely and maintain adequate nutrition. However, lack of information about the in vivo swallowing process and its interaction with food flow has obstructed the effective management of dysphagia. In the esophageal swallowing stage, masticated food is transported through the esophagus to the stomach by a peristaltic mechanism, which is generated by sequential contraction and relaxation of esophageal muscles. Inspired by this behavior, a soft actuator is proposed to provide a nonrisk environment aiming to facilitate investigations of the most effective properties of food for the management of the swallowing disorders. The wave-like motion is first specified according to the in vivo measurement of human esophageal peristalsis. Finite-element analysis simulations are carried out to aid the structure design before prototype manufacture. Constructed by casting silicon rubber in a three-dimensional (3-D) printed customized mold, the novel actuator has soft structure resembling its human counterpart, which has a flexible muscular structure. Multiple layers of inflatable chambers are embedded and distributed along the axis of a food passage regularly, which locates at the center of the actuator. The actuator is capable of generating a peristaltic wave and pushing a bolus along the passage. The closure of the tube and the velocity of the propagation wave are going to be adjusted to achieve the trajectories recorded experimentally, by regulating the compressed air pressure pumped into chambers actively.
机译：提供改性食品和饮料是吞咽困难管理的方法之一，其基于以下假设：具有适当质地和流变特性的食物将使吞咽困难的患者安全吞咽并保持足够的营养。但是，缺乏有关体内吞咽过程及其与食物流动的相互作用的信息，阻碍了吞咽困难的有效管理。在食道吞咽阶段，咀嚼的食物通过蠕动机制通过食道输送到胃部，该蠕动机制是由食管肌肉的顺序收缩和松弛产生的。受这种行为的启发，提出了一种软致动器，以提供一种无风险的环境，旨在促进对食物最有效特性的研究，以应对吞咽障碍。首先根据人体食道蠕动的体内测量来指定波状运动。进行有限元分析模拟以帮助在原型制造之前进行结构设计。通过在三维（3-D）打印的定制模具中浇铸硅橡胶而构造的新型执行器具有类似于人体的柔软结构，具有灵活的肌肉结构。多层充气室被规则地嵌入并沿着食物通道的轴线分布，该食物通道位于致动器的中心。致动器能够产生蠕动波并沿着通道推动大剂量。将通过主动调节泵入腔室的压缩空气压力来调整管子的闭合度和传播波的速度，以达到实验记录的轨迹。

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