《Table 2 Design parameters of the novel extensor》

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《Optimization design of extensor for improving locomotion efficiency of inchworm-like capsule robot》

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When conducting the experiment，gear II shown in Figure10（a）was not installed at first，thus the novel extensor was identical to the traditional one adopting a pair of lead-screw and nut，and the locomotion efficiency was measured as 0.47.Then gear II was installed to make the two pairs of leadscrews and nuts both work，and the locomotion efficiency increased significantly to 0.74，manifesting the effectiveness of the novel extensor in improving the locomotion efficiency of the ILCR.Note that the measured locomotion efficiency is obviously higher than that calculated by eqs.（1），（9），（11），and（13），this is because the ex-vivo colon was not connected to mesentery in the experiment，i.e.，was not suspended，thus the actual stroke loss formed when the extensor retracted was much smaller than the calculated one.