Robotic capsule endoscopes (RCEs) are pill shaped devices used for noninvasive imaging, chemical sensing, performing simple surgical procedures, and active locomotion through the bowel lumen [1]. Currently, there is no accurate in vitro method for testing RCEs during development, and thus, they are prematurely tested in vivo at a cost of about $1400 per swine test [2]. The purpose of this research was to develop an in vitro method of testing RCEs without the need for repetitive animal experimentation. We have developed a device that simulates the biomechanical behavior and environment of the small intestine to expedite the development of RCEs. This device (Fig. 1 
Fig. 1

The human intestine propels chyme using peristaltic and segmentation waves. Peristaltic waves advance the chyme while segmentation waves mix it for better nutrient absorption [3]. The main traversing agents of these waves,...

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