VIBRATING ROBOTIC CRAWLER
First Claim
1. A vibration-driven device comprising a body having a plurality of flexible fibers attached thereto, the surface of at least some of said fibers having along at least part of their length, anisotropic friction with at least one juxtaposed surface, said fibers extending from said body such that at least some of them are in contact with said at least one juxtaposed surface along part of their length,wherein mutual vibratory motion between said device and said juxtaposed surface causes said device to move relative to said at least one juxtaposed surface.
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Accused Products
Abstract
An autonomous vibration-driven device, for motion through a lumen or along a surface, utilizing an array of flexible fibers attached to the body of the device. The outer surface of the fibers have an anisotropic coefficient of friction with the surface along which the device is to move, and the fibers extend from the device body such that at least some of the fibers are in contact with the walls along a part of their length. A transducer is used to vibrate the device, such that it moves down the lumen. The transducer can be either device borne or external. A rotary device is also described, utilizing an array of fibers disposed on the rotor'"'"'s body, the fibers having an anisotropic coefficient of friction with a central stator or with an outer circular wall. A planar motion device is also described for crawling over a planar surface.
49 Citations
33 Claims
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1. A vibration-driven device comprising a body having a plurality of flexible fibers attached thereto, the surface of at least some of said fibers having along at least part of their length, anisotropic friction with at least one juxtaposed surface, said fibers extending from said body such that at least some of them are in contact with said at least one juxtaposed surface along part of their length,
wherein mutual vibratory motion between said device and said juxtaposed surface causes said device to move relative to said at least one juxtaposed surface.
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26. A device for autonomous motion through a pulsating lumen, comprising:
a body having a plurality of flexible fibers attached thereto, the surface of at least some of said fibers having along at least part of their length, anisotropic friction with the inner wall of said lumen, said fibers extending from said body such that at least some of them are in contact with said inner wall of said lumen along part of their length such that pulsation of said lumen causes said device to move along said lumen. - View Dependent Claims (27)
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28. A vibration-driven device comprising:
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a body having a plurality of flexible fibers attached to said body in a spiral form along said body, the surface of at least some of said fibers having along at least part of their length, anisotropic friction with at least one juxtaposed surface, said fibers extending from said body such that at least some of them are in contact with said at least one juxtaposed surface along part of their length; wherein mutual vibratory motion between said device and said juxtaposed surface causes said device to move relative to said at least one juxtaposed surface. - View Dependent Claims (29, 30, 31, 32, 33)
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Specification