Abstract: One aspect of the present invention includes a flexible gripping device. The flexible gripping device includes a plurality of pneumatic actuator rings and a grasper element disposed within the plurality of pneumatic actuator rings. The grasper element is adapted to move back and forth within the actuator rings.

Abstract: An apparatus for locomotion includes an elongate body member defining a longitudinal axis and having oppositely disposed first and second body ends separated by a body lumen. A power source is operative to selectively provide motive power to the apparatus by changing a lateral cross-sectional area of the body member in at least one actuation location to produce at least one peristaltic wave propagated through the body member substantially along the longitudinal axis. The peristaltic wave is a substantially smooth wave. The peristaltic wave causes the body member to interact with an ambient environment and provide longitudinally oriented locomotion to the apparatus. A method for locomotion is also described.

Abstract: The present invention relates to a gripping device that consists of four artificial muscle rings arranged in parallel. A grasper is placed in the middle of the rings. Sequential activation of the rings produces a peristaltic motion that moves the grasper back and forth within the rings. By activating the grasper appropriately, it can grab, ingest, and move soft and irregular material from one side of the lumen formed by the rings to the other side.

Abstract: A flexible gripping device including a plurality of pneumatic actuator rings. A grasper element is disposed within the plurality of pneumatic actuator rings and adapted to move back and forth within the actuator rings.

Abstract: An apparatus for locomotion includes an elongate body member defining a longitudinal axis and having oppositely disposed first and second body ends separated by a body lumen. A power source is operative to selectively provide motive power to the apparatus by changing a lateral cross-sectional area of the body member in at least one actuation location to produce at least one peristaltic wave propagated through the body member substantially along the longitudinal axis. The peristaltic wave is a substantially smooth wave. The peristaltic wave causes the body member to interact with an ambient environment and provide longitudinally oriented locomotion to the apparatus. A method for locomotion is also described.