This paper reviews the state of the art in piezoelectric energy harvesting. It presents the basics of piezoelectricity and discusses materials choice. The work places emphasis on material operating modes and device configurations, from resonant to non-resonant devices and also to rotational solutions. The reviewed literature is compared based on power density and bandwidth. Lastly, the question of power conversion is addressed by reviewing various circuit solutions.

The authors are developing devices for semi-autonomous or autonomous locomotion in the gastrointestinal (GI) tract. In this paper, they illustrate the systematic approach to the problem of "effective" locomotion in the GI tract and the critical analysis of "inchworm" locomotion devices, based on extensor and clamper mechanisms. The fundamentals of locomotion and the practical problems encountered during the development and the testing (in vitro and in vivo) of these devices are discussed. A mini device capable of propelling itself in the colon and suitable to perform, at least, rectum-sigmoidoscopy (the tract where approximately 60% of all colon cancers are found) is presented. This paper introduces preliminary, but useful, concepts for understanding, modeling and improving the performance of virtually any existing and novel devices for endoscopy of the GI tract.

Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case, they attract scholars from a variety of areas. However, nonlinearity and hysteresis effects also bring a burden to robot modeling. Moreover, following their flexibility and adaptation, soft robot control is more challenging than rigid robot control. In order to model and control soft robots, a large number of data-driven methods are utilized in pairs or separately. This review first briefly introduces two foundations for data-driven approaches, which are physical models and the Jacobian matrix, then summarizes three kinds of data-driven approaches, which are statistical method, neural network, and reinforcement learning. This review compares the modeling and controller features, e.g., model dynamics, data requirement, and target task, within and among these categories. Finally, we summarize the features of each method. A discussion about the advantages and limitations of the existing modeling and control approaches is presented, and we forecast the future of data-driven approaches in soft robots. A website (https://sites.google.com/view/23zcb) is built for this review and will be updated frequently. Note to Practitioners —This work is motivated by the need for a review introducing soft robot modeling and control methods in parallel. Modeling and control play significant roles in robot research, and they are challenging especially for soft robots. The nonlinear and complex deformation of such robots necessitates specific modeling and control approaches. We introduce the state-of-the-art data-driven methods and survey three approaches widely utilized. This review also compares the performance of these methods, considering some important features like data amount requirement, control frequency, and target task. The features of each approach are summarized, and we discuss the possible future of this area.

This paper describes a novel solution for the active locomotion of a miniaturized endoscopic capsule in the gastrointestinal (GI) tract. In particular, the authors present the design, development, and testing of a legged locomotion system embedded in a capsule (with a volume of about 4-5 cm³) and actuated by a brushless minimotor. The actuation mechanism and transmission mechanism are described in detail in order to highlight the compactness of the overall design. This device is provided with four superelastic legs, allowing large stroke advancement in the GI tract, and a CMOS frontal camera, for diagnostic purposes. A dedicated electronic board for controlling the opening angle of the legs and adjusting their speed has been developed. In order to investigate the motion ability of the device, a set of experiments has been carried out. Four different types of superelastic legs have been designed and tested with the objective to identify the best leg configuration for capsule locomotion. Experimental results demonstrate that the device can travel in the digestive tract with a typical speed ranging between 10 and 40 mm/min.