{"id":"https://openalex.org/W4312650103","doi":"https://doi.org/10.1109/mra.2022.3223220","title":"A Continuum Robot for Remote Applications: From Industrial to Medical Surgery With Slender Continuum Robots","display_name":"A Continuum Robot for Remote Applications: From Industrial to Medical Surgery With Slender Continuum Robots","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4312650103","doi":"https://doi.org/10.1109/mra.2022.3223220"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2022.3223220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2022.3223220","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"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/A5025192908","display_name":"David Alatorre","orcid":"https://orcid.org/0000-0001-9370-3124"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"David Alatorre Troncoso","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9370-3124","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026731933","display_name":"Jos\u00e9 A. Robles-Linares","orcid":null},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jose A. Robles-Linares","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9463-6688","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034656746","display_name":"Matteo Russo","orcid":"https://orcid.org/0000-0002-8825-8983"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matteo Russo","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080810858","display_name":"Mohamed A. Elbanna","orcid":"https://orcid.org/0000-0002-5695-0262"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohamed A. Elbanna","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005532197","display_name":"Samuel Wild","orcid":"https://orcid.org/0000-0002-7160-7470"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Samuel Wild","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7160-7470","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087034933","display_name":"Xin Dong","orcid":"https://orcid.org/0000-0001-9337-9379"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xin Dong","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9337-9379","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059324003","display_name":"Abdelkhalick Mohammad","orcid":"https://orcid.org/0000-0001-7623-125X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Abdelkhalick Mohammad","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7623-125X","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065687314","display_name":"James Kell","orcid":null},"institutions":[{"id":"https://openalex.org/I866009140","display_name":"Rolls-Royce (United Kingdom)","ror":"https://ror.org/04h08p482","country_code":"GB","type":"company","lineage":["https://openalex.org/I866009140"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James Kell","raw_affiliation_strings":["Rolls-Royce plc, Derby, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rolls-Royce plc, Derby, U.K","institution_ids":["https://openalex.org/I866009140"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018062623","display_name":"Andy Norton","orcid":"https://orcid.org/0000-0001-7062-7691"},"institutions":[{"id":"https://openalex.org/I866009140","display_name":"Rolls-Royce (United Kingdom)","ror":"https://ror.org/04h08p482","country_code":"GB","type":"company","lineage":["https://openalex.org/I866009140"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andy D. Norton","raw_affiliation_strings":["Rolls-Royce plc, Derby, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rolls-Royce plc, Derby, U.K","institution_ids":["https://openalex.org/I866009140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015263836","display_name":"Drago\u015f Axinte","orcid":"https://orcid.org/0000-0002-3595-0933"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dragos Axinte","raw_affiliation_strings":["Faculty of Engineering, University of Nottingham, Nottingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3595-0933","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Nottingham, Nottingham, U.K","institution_ids":["https://openalex.org/I142263535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5025192908"],"corresponding_institution_ids":["https://openalex.org/I142263535"],"apc_list":null,"apc_paid":null,"fwci":5.1489,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.96715323,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"30","issue":"3","first_page":"94","last_page":"105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9879999756813049,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7621501684188843},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7012647390365601},{"id":"https://openalex.org/keywords/aerospace","display_name":"Aerospace","score":0.6159132122993469},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5763312578201294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4663476347923279},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41198089718818665},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.365318238735199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.358747661113739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3020648956298828},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.22706925868988037}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7621501684188843},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7012647390365601},{"id":"https://openalex.org/C167740415","wikidata":"https://www.wikidata.org/wiki/Q2876213","display_name":"Aerospace","level":2,"score":0.6159132122993469},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5763312578201294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4663476347923279},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41198089718818665},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.365318238735199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.358747661113739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3020648956298828},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.22706925868988037},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mra.2022.3223220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2022.3223220","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:art.torvergata.it:2108/313561","is_oa":false,"landing_page_url":"https://hdl.handle.net/2108/313561","pdf_url":null,"source":{"id":"https://openalex.org/S4306400993","display_name":"Cineca Institutional Research Information System (Tor Vergata University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I116067653","host_organization_name":"University of Rome Tor Vergata","host_organization_lineage":["https://openalex.org/I116067653"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:nottingham-repository.worktribe.com:14602117","is_oa":false,"landing_page_url":"https://nottingham-repository.worktribe.com/output/14602117","pdf_url":null,"source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G6621776841","display_name":null,"funder_award_id":"51689","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"},{"id":"https://openalex.org/G7545725738","display_name":null,"funder_award_id":"104066","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"}],"funders":[{"id":"https://openalex.org/F4320335087","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1934600457","https://openalex.org/W2045581174","https://openalex.org/W2101667962","https://openalex.org/W2118843770","https://openalex.org/W2147492425","https://openalex.org/W2164713536","https://openalex.org/W2184993170","https://openalex.org/W2477120746","https://openalex.org/W2909729638","https://openalex.org/W2987061965","https://openalex.org/W3108795010","https://openalex.org/W3118915839","https://openalex.org/W3125286443","https://openalex.org/W3127964809","https://openalex.org/W3186246039","https://openalex.org/W4200095632","https://openalex.org/W4205276831","https://openalex.org/W4205380791"],"related_works":["https://openalex.org/W2950573157","https://openalex.org/W2809744190","https://openalex.org/W4225795411","https://openalex.org/W2511013388","https://openalex.org/W4378695326","https://openalex.org/W2044192478","https://openalex.org/W29956273","https://openalex.org/W2356599848","https://openalex.org/W2019887508","https://openalex.org/W2097995569"],"abstract_inverted_index":{"The":[0,120],"maintenance":[1],"of":[2,97,123],"critical":[3],"industrial":[4],"components":[5],"is":[6,138],"often":[7],"hindered":[8],"by":[9],"limited":[10,38],"access,":[11],"tortuous":[12],"passages,":[13],"and":[14,36,55,90,100,116,130,135,147],"complex":[15],"geometries.":[16],"In":[17],"highly":[18],"constrained":[19],"environments,":[20],"inspection":[21,63],"tasks":[22],"are":[23,46,133],"currently":[24],"performed":[25],"with":[26,33,112],"borescopes,":[27],"but":[28],"even":[29],"skilled":[30],"operators":[31],"struggle":[32],"hard-to-reach":[34],"targets,":[35],"the":[37,95,124,128,136],"mobility":[39],"prevents":[40],"in":[41,76,140],"situ":[42],"repair":[43],"when":[44],"defects":[45],"identified.":[47],"Thanks":[48],"to":[49,85],"an":[50],"active":[51,114],"shape":[52],"control,":[53],"snake-like":[54],"continuum":[56,101],"robots":[57],"can":[58],"outperform":[59],"borescopes":[60,99],"for":[61,142],"short-range":[62],"as":[64,66,78],"well":[65],"enable":[67],"intervention.":[68],"However,":[69],"their":[70,74,86,110],"actuation":[71,129],"technology":[72],"limits":[73],"scalability":[75],"length,":[77],"longer":[79],"bodies":[80],"pose":[81],"control":[82,131],"challenges":[83],"due":[84],"intrinsically":[87],"low":[88],"stiffness":[89],"space":[91],"constraints.":[92],"To":[93],"overcome":[94],"limitations":[96],"both":[98,113],"robots,":[102],"here,":[103],"we":[104],"propose":[105],"a":[106],"modular":[107],"design":[108],"at":[109],"intersection,":[111],"tendon-driven":[115],"passively":[117],"flexible":[118],"segments.":[119],"main":[121],"elements":[122],"novel":[125],"design,":[126],"including":[127],"interface,":[132],"described,":[134],"system":[137],"demonstrated":[139],"scenarios":[141],"aerospace":[143],"assets,":[144],"nuclear":[145],"installations,":[146],"robot-assisted":[148],"surgery.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":10}],"updated_date":"2026-05-12T08:28:47.272897","created_date":"2025-10-10T00:00:00"}