Multi-stable Device Configurations and Controls for Gastric Drug Delivery Devices

An ingestible device may include one or more deployable limbs configured to orient the ingestible device in a desired orientation. The one or more limbs may be attached to body of the device and wrap around the device in an initial configuration (c. g.. prior to deployment of the one or more limbs). The one or more limbs may be configured to deploy when exposed to a predetermined condition. Once the predetermined condition is met, the one or more limbs may extend outwards away from the body such that the one or more deployed limbs serve to orient the ingestible device.