Park Kitae, Yang Sungwook, Kim Jinseok, Kim Tae Song, Yoon Eui-Sung
University of Science and Technology, 113, Gwahangno, Yuseong-gu, Daejeon 305-333, Korea.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:6076-9. doi: 10.1109/IEMBS.2009.5334455.
The position based feedback control system is proposed in order to improve the locomotive performance of the paddling based capsular microrobot moving in gastrointestinal (GI) tracts. The miniaturized optical encoder is designed and fabricated for the positional feedback of the mobile in the microrobot, which results in the precise positioning with the resolution of 0.1 mm. Moreover, the stroke of the mobile is optimized to increase the forwarding velocity of the microrobot. The control performance is verified by comparing the targeted displacement with the measured one under various loading conditions. The velocity of the microrobot is evaluated according to the various strokes and driving voltages under visco-elastically deformable and rare deformable conditions. The control system works properly with high resolution and accuracy and the velocity of the microrobot is maximized under the optimized stroke. In the in-vitro test, the velocity of the microrobot controlled by the position based feedback is increased by 73% when the optimized stroke is applied, compared with the velocity by the time based control.
为了提高基于划桨的胶囊微型机器人在胃肠道（GI）中移动的机车性能，提出了基于位置的反馈控制系统。设计并制造了小型化光学编码器，用于微型机器人中移动体的位置反馈，从而实现了分辨率为0.1毫米的精确定位。此外，对移动体的行程进行了优化，以提高微型机器人的前进速度。通过在各种负载条件下将目标位移与测量位移进行比较，验证了控制性能。根据粘弹性可变形和罕见可变形条件下的各种行程和驱动电压，评估了微型机器人的速度。该控制系统以高分辨率和高精度正常工作，并且在优化行程下微型机器人的速度达到最大值。在体外测试中，与基于时间控制的速度相比，当应用优化行程时，基于位置反馈控制的微型机器人的速度提高了73%。
