I used digital force gauge to measure force of the inner mass. It can interface with computer through Exel. I would like to directly interface it with my own program but its library is dll. It is hard to access the library.
I tested biometal actuator by applying continuous pulses. I used small button batteries for driving but it did not work, so I used 2 of AA battery. Button battery has not enough power to drive the actuator.
Capsule robot was not able to move on silicon-intestine. I think that there are 2 problems. First, the corner was sharp. It need to be modified to round cornner. Second, silicon is soft and elastic. It absorbed propulsion force of robot, then the robot moved with difficulty.