Peristaltic transporting device inspired by large intestine structure

A pneumatic large intestine-like soft robot with McKibben muscles is designed based on traveling wave motion. The robot consists of four sections, and each section is controlled by axial and circular muscles independently. The robot can propagate traveling waves inspired by the large intestine's peristaltic wave, defined by the wavelength and delay of the axial and circular muscles' supplied air signals. This motion can transport the object in the inner cavity of the robot, making the maximum Transport Capacity Index of 0.069 (with an actual speed of 0.77 mm/s). This study investigates the effect of different parameters of traveling waves generated by axial and circular muscles independently on the ability of a robot to transport the object. Various combinations of traveling waves will lead to different transport directions and speeds of the object and provide more possibilities for selecting control patterns. Furthermore, the proposed robot not only demonstrates effective transportation capabilities for solid objects, but it also has the capacity to transport soft objects. This study can provide new ideas for animal tubular organ bioinspired device design and prototype design references for medical teaching tools.