A bio-inspired intestine robot utilizing soft origami Kresling structures to imitate peristaltic wave motion and transport

This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal peristalsis for directional transport. The minimalist design, comprising a servo motor, antagonistic chiral Kresling units, and check valves, enables continuous peristaltic wave propagation through reciprocal torsional input. Experimental validation demonstrates exceptional performance: transport speeds up to 20.91 mm/s, load capacity exceeding 97 g, and adaptability to objects spanning 32–46 mm in diameter across inclinations of 0°–90°. Key innovations include: (1) Biomechanical mimicry through antagonistic chiral units that convert rotation into radial contractions, replicating segmented intestinal propulsion; (2) Performance breakthroughs in speed and payload, enabled by efficient energy transfer from torsional kinematics; and (3) Valve-enabled directionality ensuring net forward displacement. Theoretical analysis establishes geometric constraints for valve-mediated transport, explaining the optimized operating range via valve aperture dynamics and material compliance. This work advances gastrointestinal robotics by addressing critical limitations in existing simulators: complex actuation, slow transport, and directional instability, providing a robust platform for medical applications such as segment artificial intestines replacement.