The present invention provides a hetero-stiffness robotic device with a central body portion having a head end and a tail end. A rigid rotatable head propeller extends from the head end while a flexible rotatable tail propeller extends from the tail end. A head motor positioned in the central body portion rotates the rigid rotatable head propeller and a tail motor positioned in the central body portion rotates the flexible rotatable tail propeller. A controller independently controls a rotational speed of the head motor and the tail motor. The head and tail propellers may have helical shapes. The hetero-stiffness propulsion gives the robotic device a high level of environmental adaptivity over a wide range of viscosities. The device demonstrates advantages in linearity, straightness, bi-directional locomotion ability, and efficiency, which provides a critical competence for moving in low Reynolds number environments.
Hetero-stiffness robotic device
2023-06-27
Patent
Electronic Resource
English
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
The Spinebot—A Robotic Device to Intraoperatively Quantify Spinal Stiffness
BASE | 2021
|BASE | 2018
|