《Table 1 Definitions of the design parameters of the ILCR》

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

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where the coefficient a represents the number of pairs of the employed lead-screw and nut，and the coefficient b is the sum of the thicknesses of the mechanical parts which occupying the axial space in the extensor.Take the extensor shown in Figure 2 as an example，its coefficient a=1，and its coefficient b（≈5 mm）is the sum of the thicknesses of the baffle I（0.8 mm），nut（2.6 mm），baffle II（0.8 mm），and spur gear（0.8 mm）.