Toroidal propulsion and steering system

Details Toroidal propulsion and steering system Toroidal propulsion and steering system

2007-06-26

2007-06-26

Morris, Lesley D. (Department: 3611)

Surgery

Endoscope

Having flexible tube structure

C600S139000, C600S141000, C180S009100

Reexamination Certificate

active

11327391

ABSTRACT:
An apparatus comprises a body having a torus skin with inner and outer layers, and a drive system configured to propel the apparatus by moving the inner layer relative to the outer layer. The active skin propulsion system allows movement and steering of a device. A drive system includes a plurality of drive segments coupled together so that the skin engaging unit of the drive segment frictionally moves the inner layer of the torus skin relative to the outer layer of the torus skin. As a result of the relative skin motion and contact with the surface by the outer layer of the torus skin, the body is propelled and may be steered.

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