Nonlinear Model Predictive Control of a Robotic Soft Esophagus

Strictures caused by esophageal cancer can narrow down the esophageal lumen, leading to dysphagia. Palliation of dysphagia has driven the development of a robotic soft esophagus (RoSE), which provides a novel in vitro platform for esophageal stent testing and food viscosity studies. In RoSE, peristaltic wave generation and control were done in an open-loop manner since the conduit lacked vi...