{"id":"https://openalex.org/W2321128042","doi":"https://doi.org/10.1109/embc.2014.6943724","title":"Elastic mesh braided worm robot for locomotive endoscopy","display_name":"Elastic mesh braided worm robot for locomotive endoscopy","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2321128042","doi":"https://doi.org/10.1109/embc.2014.6943724","mag":"2321128042","pmid":"https://pubmed.ncbi.nlm.nih.gov/25570092"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2014.6943724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6943724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036483671","display_name":"Thomas Manwell","orcid":null},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Thomas Manwell","raw_affiliation_strings":["Department of Informatics, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006531877","display_name":"Tom\u00e1\u0161 V\u00edtek","orcid":"https://orcid.org/0000-0001-8967-7533"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tomas Vitek","raw_affiliation_strings":["Department of Informatics, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059155747","display_name":"Tommaso Ranzani","orcid":"https://orcid.org/0000-0001-8362-3710"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Tommaso Ranzani","raw_affiliation_strings":["Scuola Superiore Sant\u2019 Anna, BioRobotics Institute, Pontedera (Pisa), Italy","Scuola Superiore Sant' Anna, BioRobotics Institute, Pontedera (Pisa), Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019 Anna, BioRobotics Institute, Pontedera (Pisa), Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant' Anna, BioRobotics Institute, Pontedera (Pisa), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106083111","display_name":"Arianna Menciassi","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arianna Menciassi","raw_affiliation_strings":["Scuola Superiore Sant\u2019 Anna, BioRobotics Institute, Pontedera (Pisa), Italy","Scuola Superiore Sant' Anna, BioRobotics Institute, Pontedera (Pisa), Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant\u2019 Anna, BioRobotics Institute, Pontedera (Pisa), Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant' Anna, BioRobotics Institute, Pontedera (Pisa), Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["Department of Informatics, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004659892","display_name":"Hongbin Liu","orcid":"https://orcid.org/0000-0002-4315-7556"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongbin Liu","raw_affiliation_strings":["Department of Informatics, King's College London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, King's College London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036483671"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":0.7473,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.73287298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2014","issue":null,"first_page":"848","last_page":"851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7143385410308838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47779709100723267},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41254866123199463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3811154365539551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3746342957019806}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7143385410308838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47779709100723267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41254866123199463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3811154365539551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3746342957019806}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004548","descriptor_name":"Elasticity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004548","descriptor_name":"Elasticity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004548","descriptor_name":"Elasticity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004724","descriptor_name":"Endoscopy","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2014.6943724","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2014.6943724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:25570092","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25570092","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2001456027","https://openalex.org/W2015106839","https://openalex.org/W2047717400","https://openalex.org/W2049878704","https://openalex.org/W2054953631","https://openalex.org/W2071188031","https://openalex.org/W2072293370","https://openalex.org/W2079635050","https://openalex.org/W2096541901","https://openalex.org/W2097062239","https://openalex.org/W2101044015","https://openalex.org/W2101890444","https://openalex.org/W2104265342","https://openalex.org/W2107714744","https://openalex.org/W2113076624","https://openalex.org/W2130119801","https://openalex.org/W2131835145","https://openalex.org/W2189268927","https://openalex.org/W2540028658","https://openalex.org/W3141952980","https://openalex.org/W6728762644"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,94,99,119],"new":[4],"design":[5,40,133],"of":[6,44,55,71,85,111],"worm":[7,26,46,66,87,107,131],"robot":[8,27,47,67,88,108,132],"whose":[9],"body":[10,35],"is":[11,28,61,103,109],"constructed":[12],"using":[13],"novel":[15],"crimped":[16],"elastic":[17],"mesh":[18],"braid":[19],"inspired":[20],"by":[21,58],"the":[22,33,45,51,65,69,86,106,123,129,142,145],"earthworm.":[23,124],"The":[24,39,53,81,125],"proposed":[25,130],"intended":[29],"for":[30,68,114,137],"inspection":[31],"within":[32],"human":[34],"via":[36],"natural":[37,59,138],"orifices.":[38],"and":[41,97,144],"fabrication":[42],"procedure":[43],"are":[48],"given":[49],"in":[50,98,118],"paper.":[52],"imitation":[54],"peristalsis,":[56],"used":[57,62],"worms,":[60],"to":[63,78,122],"control":[64],"purpose":[70],"producing":[72],"motion":[73],"while":[74],"causing":[75],"minimal":[76],"trauma":[77],"biological":[79],"tissue.":[80],"forward":[82],"locomotive":[83],"function":[84],"has":[89,134],"been":[90],"tested":[91],"on":[92],"both":[93,115],"flat":[95],"surface":[96],"rubber":[100],"tube.":[101],"It":[102],"shown":[104],"that":[105],"capable":[110],"propagating":[112],"forwards":[113],"test":[116,126],"conditions":[117],"form":[120],"similar":[121],"results":[127],"indicate":[128],"promising":[135],"application":[136],"tube":[139],"inspection,":[140],"like":[141],"colon":[143],"esophagus.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-16T23:07:24.559242","created_date":"2025-10-10T00:00:00"}