Palliation of dysphagia has driven the development a Robotic Soft Esophagus (RoSE), which provides novel in vitro platform for esophageal stent testing and food viscosity studies. In RoSE, peristaltic wave generation control were done an open-loop manner since conduit lacked visibility embedded sensing capability. Hence, this work, RoSE version 2.0 (RoSEv2.0) is designed with Time Of Flight (TO...