Design and Characterization of a Peristaltic Actuator Inspired by Esophageal Swallowing

The specification and design of a novel peristaltic actuator is communicated. The actuation manifests as a continuous, distributed, and compliant peristaltic actuation. The occlusive nature of force distribution on the transport conduit results in materials being transported in front of a wave which has features of geometry and wave tail seal pressure. The behavior of these aspects profoundly affects the transport process. The device, of silicone rubber construction, has no internal skeletal structure and is pneumatically actuated which allows for continuous and compliant transport. The device is characterized by the synergy of geometrical and occlusive pressure measurements in response to actuation. This is performed for the “dry swallow” case (with no bolus) for single peak, single inflection waves. Techniques typical of medical investigation were exploited. Wave geometry was captured by articulography, complemented by wave seal pressure investigation by manometry. This paper describes the inspiration, specification, and experimental techniques used to develop and characterize the behavior of the biologically inspired, peristaltic, robotic device for assertion pressures up to 71.5 kPa. It is found that the device is capable of producing wave amplitudes and seal pressures of a similar magnitude (complete occlusion with >15-kPa seal) to the human esophagus which confirms achievement of the fundamental peristaltic parameters.