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Appleyard, M. N. et al. The measurement of forces exerted during colonoscopy. Gastrointestinal Endoscopy 52, 237–240, https://doi.org/10.1067/mge.2000.107218 (2000).

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The use of soft materials has the advantage of reducing the forces applied to the colonic wall and consequently diminishing pain and discomfort to the patient during the procedure. Because of the low mechanical stiffness, a soft robot can perform dexterous movements and follows the 3D-shape contours of the colonic lumen without the need of a complex active closed-loop control 20. An additional advantage of using soft materials is the low production costs 21. The body of the robot can be produced by “injection moulding” at a very low cost 22, enabling the robot to be marked as a disposable device and thus avoiding the issues of cleaning, disinfection, and maintenance. This will drastically reduce the health care costs compared to the traditional optical colonoscopy and also the overall acceptability by patients. Alcaide, J. O., Pearson, L. & Rentschler, M. E. Design, modeling and control of a sma-actuated biomimetic robot with novel functional skin. In 2017 IEEE International Conference on Robotics and Automation (ICRA), 4338–4345, https://doi.org/10.1109/ICRA.2017.7989500 (2017).Yegireddy NK, Panda S, Papinaidu T, Yadav KPK (2018) Multi-objective non dominated sorting genetic algorithm-II optimized PID controller for automatic voltage regulator systems. J Intell Fuzzy Syst 35(5):4971–4975 Yoon J, Lee J (2017) Altitude and roll control of a hovering quad-rotor air vehicle using the multi-objective approximate optimization of proportional–integral–differential control. Eng Optim 49(10):1704–1718 Hu FJ, Lin JW, Gu HJ (2019) Dynamic linear predictive optimization of flexible robot profiling MFA model. J Sens 2019:1–9

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Wang JB, Fang YY, Tong X, Zhang S, Fei YQ (2018) Design and Locomotion properties of a multi-airbag bionic soft robot. J Shanghai Jiaotong Univ 52(1):20–25 Dehghani, H. et al. Semi-autonomous locomotion for diagnostic endoscopy device 1. Journal of Medical Devices 9, 030931, https://doi.org/10.1115/1.4030562 (2015). Singh K, Singh K, Son LH, Aziz A (2018) Congestion control in wireless sensor networks by hybrid multi-objective optimization algorithm. Comput Netw 138:90–107 L.M. conceived the robot, designed the experiments, and wrote the main manuscript text. E.C. and L.M. fabricated the robot and conducted the experimental characterization. L.M. and E.C. prepared all figures. All authors reviewed the manuscript and analysed the results. Corresponding author

Norton, J. et al. Rollerball: A mobile robot for intraluminal locomotion. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 254–259, https://doi.org/10.1109/BIOROB.2016.7523634 (2016). Liu, Y. et al. Haustral loop extraction for ct colonography using geodesics. International journal of computer assisted radiology and surgery 12, 379–388, https://doi.org/10.1007/s11548-016-1497-x (2017). Wang, K. et al. Full-driving soft robotic colonoscope in compliant colon tissue. Journal of Medical Engineering & Technology 41, 1–8, https://doi.org/10.1080/03091902.2017.1394387 (2017). Isayev, A. I. & Hieber, C. A. Toward a viscoelastic modelling of the injection molding process. Rheol. Acta 19, 168–182, https://doi.org/10.1007/BF01521928 (1980). Wang, K., Ge, Y. & Jin, X. A micro soft robot using inner air transferring for colonoscopy. In 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1556–1561, https://doi.org/10.1109/ROBIO.2013.6739688 (2013).

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Tavana M, Li ZJ, Mobin M (2016) Multi-objective control chart design optimization using NSGA-III and MOPSO enhanced with DEA and TOPSIS. Expert Syst Appl 50:17–39 Rus, D. & Tolley, M. T. Design, fabrication and control of soft robots. Nature 521, 467–475, https://doi.org/10.1038/nature14543 (2015). Kajita S, Cisneros R, Benallegue M, Sakaguchi T (2016) Impact acceleration of falling humanoid robot with an airbag. IEEE-RAS Int Conf Humanoid Robots 30:637–643 Cheung, E., Karagozler, M. E. & Sitti, M. A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives. In Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 551–557, https://doi.org/10.1109/AIM.2005.1511040 (2005). Polter, D. E. Risk of colon perforation during colonoscopy at baylor university medical center. In Baylor University Medical Center Proceedings, vol. 28, 3–6 (Taylor & Francis, 2015).Kim, S. Y., Kim, H.-S. & Park, H. J. Adverse events related to colonoscopy: Global trends and future challenges. World journal of gastroenterology 25, 190, https://doi.org/10.3748/wjg.v25.i2.190 (2019). Tolley, M. T. et al. A resilient, untethered soft robot. Soft Robotics 1, 213–223, https://doi.org/10.1089/soro.2014.0008 (2014). Lim, J. et al. One pneumatic line based inchworm-like micro robot for half-inch pipe inspection. Mechatronics 18, 315–322, https://doi.org/10.1016/j.mechatronics.2008.05.007 (2008). Pourghodrat, A. et al. Disposable fluidic self-propelling robot for colonoscopy. Journal of Medical Devices 8, 030931, https://doi.org/10.1115/1.4027076 (2014).