{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T18:53:16Z","timestamp":1790621596833,"version":"4.1.0"},"reference-count":53,"publisher":"American Association for the Advancement of Science (AAAS)","funder":[{"name":"Excellent Youth Science Foundation of Hebei Province","award":["E2023202096"],"award-info":[{"award-number":["E2023202096"]}]},{"DOI":"10.13039\/501100013280","name":"Major Basic Research Project of the Natural Science Foundation of the Jiangsu Higher Education Institutions","doi-asserted-by":"publisher","award":["A2023202049"],"award-info":[{"award-number":["A2023202049"]}],"id":[{"id":"10.13039\/501100013280","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["spj.science.org"],"crossmark-restriction":true},"short-container-title":["Research"],"published-print":{"date-parts":[[2025,1]]},"abstract":"<jats:p>\n                    pH and temperature in the gastrointestinal (GI) tract are correlated with many diseases, but patients suffer from the pain of traditional testing methods. Functionalized capsule robots for GI tract sensing offer a potential approach for early GI disease diagnosis. However, most capsule robots struggle with control and sensing integration. In addition, the friction encountered by capsule robots during navigation poses a challenge for their application. Here, a capsule robot with a low coefficient of friction is proposed to continuously detect pH and temperature. The hydrogel skin reduces the surface friction coefficient by more than 4 times and achieves an average propulsion speed of 12.79 mm s\n                    <jats:sup>\u22121<\/jats:sup>\n                    in a living porcine small intestine. The capsule system enables continuous detection over a pH range of 2 to 8 and a temperature of 36 to 40 \u00b0C. We demonstrate capsule robots\u2019 capability of multimodal locomotion through complex stomach and small intestine environment. It solves the problem that capsule robots used for sensing functions cannot be precisely controlled and achieves drive\u2013control\u2013sensing integration.\n                  <\/jats:p>","DOI":"10.34133\/research.0807","type":"journal-article","created":{"date-parts":[[2025,7,10]],"date-time":"2025-07-10T04:48:39Z","timestamp":1752122919000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":5,"title":["A Low-Friction Capsule Robot with Drive\u2013Control\u2013Sensing Integration for Gastrointestinal Lesion Detection"],"prefix":"10.34133","volume":"8","author":[{"given":"Ziying","family":"Wang","sequence":"first","affiliation":[{"name":"School of Disaster and Emergency Medicine, \rTianjin University, Tianjin 300072, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-5684-2193","authenticated-orcid":false,"given":"Hang","family":"Yin","sequence":"additional","affiliation":[{"name":"School of Disaster and Emergency Medicine, \rTianjin University, Tianjin 300072, PR China."},{"name":"School of Mechanical Engineering, \rHebei University of Technology, Tianjin 300401, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zilin","family":"Wei","sequence":"additional","affiliation":[{"name":"Academy of Military Medical Sciences","place":["PR China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shisheng","family":"Chen","sequence":"additional","affiliation":[{"name":"Academy of Military Medical Sciences","place":["PR China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiameng","family":"Li","sequence":"additional","affiliation":[{"name":"School of Disaster and Emergency Medicine, \rTianjin University, Tianjin 300072, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-4174-2011","authenticated-orcid":true,"given":"Jingyao","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Disaster and Emergency Medicine, \rTianjin University, Tianjin 300072, PR China."},{"name":"School of Mechanical Engineering, \rHebei University of Technology, Tianjin 300401, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wei","family":"Zhao","sequence":"additional","affiliation":[{"name":"Tianjin Children\u2019s Hospital, \rTianjin University, Tianjin 300204, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yejuan","family":"Jia","sequence":"additional","affiliation":[{"name":"School of Acupuncture, Moxibustion and Tuina, \rHebei University of Chinese Medicine, Shijiazhuang, Hebei 050200, PR China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","published-online":{"date-parts":[[2025,8,4]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.addr.2020.05.004"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1111\/1462-2920.13589"},{"issue":"10114","key":"e_1_3_4_4_2","doi-asserted-by":"crossref","first-page":"2769","DOI":"10.1016\/S0140-6736(17)32448-0","article-title":"Worldwide incidence and prevalence of inflammatory bowel disease in the 21st century: A systematic review of population-based studies","volume":"390","author":"Ng SC","year":"2017","unstructured":"Ng SC, Shi HY, Hamidi N, Underwood FE, Tang W, Benchimol EI, Panaccione R, Ghosh S, Wu JCY, Chan FKL, et al. 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Nat Rev Gastroenterol Hepatol. 2017;14(11):665\u2013676.","journal-title":"Nat Rev Gastroenterol Hepatol"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1021\/acssensors.7b00045"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0070-3"},{"key":"e_1_3_4_8_2","doi-asserted-by":"crossref","DOI":"10.1016\/j.foodres.2019.108784","article-title":"Temporal changes in postprandial intragastric pH: Comparing measurement methods, food structure effects, and kinetic modelling","volume":"128","author":"Reynaud Y","year":"2020","unstructured":"Reynaud Y, Buffi\u00e8re C, David J, Cohade B, Vauris M, Lopez M, Souchon I, Dupont D, R\u00e9mond D. Temporal changes in postprandial intragastric pH: Comparing measurement methods, food structure effects, and kinetic modelling. 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