Interaction model between capsule robot and intestine based on nonlinear viscoelasticity
文献类型：期刊论文
| 作者 | Zhang C(张诚) ; Liu H(刘浩); Tan RJ(谭人嘉); Li HY(李洪谊)
|
| 刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE
 |
| 出版日期 | 2014 |
| 卷号 | 228期号:3页码:287-296 |
| 关键词 | intestine capsule robot dynamic mechanical analyzer nonlinear viscoelasticity Interaction model |
| ISSN号 | 0954-4119 |
| 产权排序 | 1 |
| 通讯作者 | 刘浩 |
| 中文摘要 | Active capsule endoscope could also be called capsule robot, has been developed from laboratory research to clinical application. However, the system still has defects, such as poor controllability and failing to realize automatic checks. The imperfection of the interaction model between capsule robot and intestine is one of the dominating reasons causing the above problems. A model is hoped to be established for the control method of the capsule robot in this article. It is established based on nonlinear viscoelasticity. The interaction force of the model consists of environmental resistance, viscous resistance and Coulomb friction. The parameters of the model are identified by experimental investigation. Different methods are used in the experiment to obtain different values of the same parameter at different velocities. The model is proved to be valid by experimental verification. The achievement in this article is the attempted perfection of an interaction model. It is hoped that the model can optimize the control method of the capsule robot in the future. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Biomedical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | FRICTIONAL RESISTANCE ; ENDOSCOPE ; DESIGN |
| 收录类别 | SCI ; EI |
| 资助信息 | National Natural Science Foundation of China [61105099]; National Technology R&D Program of China [2012BAI14B03] |
| 语种 | 英语 |
| WOS记录号 | WOS:000332705600008 |
| 源URL | [http://ir.sia.cn/handle/173321/14727]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang C,Liu H,Tan RJ,et al. Interaction model between capsule robot and intestine based on nonlinear viscoelasticity[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE,2014,228(3):287-296. |
| APA | Zhang C,Liu H,Tan RJ,&Li HY.(2014).Interaction model between capsule robot and intestine based on nonlinear viscoelasticity.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE,228(3),287-296. |
| MLA | Zhang C,et al."Interaction model between capsule robot and intestine based on nonlinear viscoelasticity".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE 228.3(2014):287-296. |
入库方式： OAI收割
来源：沈阳自动化研究所
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