Self-contained capsubot propulsion mechanism

M. Nazmul Huda, Hong Nian Yu, Samuel Oliver Wane

    Research output: Contribution to journalArticlepeer-review

    9 Citations (Scopus)


    In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile. © 2011 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

    Original languageEnglish
    Pages (from-to)348-356
    Number of pages9
    JournalInternational Journal of Automation and Computing
    Issue number3
    Publication statusPublished - 12 Aug 2011


    • Capsubot
    • capsule endoscopy
    • internal force and static friction
    • linear DC motor
    • propulsion

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Modelling and Simulation
    • Computer Science Applications
    • Applied Mathematics


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