Joseph L. McKibben devised soft robotic actuators in the 1950s when he developed arm orthotics for his daughter who suffered from poliomyelitis [1]. The resulting McKibben actuator consists of an elastomeric tube encased by a mesh of equal and opposite fiber orientations allowing for axial expansion or contraction. Recent research of fiber-reinforced enclosed elastomers (FREEs) has focused on varying wrap angles to produce twisting, bending, spiral, and screw motions [2]. Using the FREE model, we propose a soft robot that can locomote through human vasculature as shown in Fig. 1. The robot will be powered by a single hydraulic line connected to a saline pump, and the robot will be comprised of two parts: a locomotion section and an orientation section, much like typical robotics arms. The locomotion section will move through human vasculature with two spiral sections and an...

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