{"id":"https://openalex.org/W1525118987","doi":"https://doi.org/10.1109/iembs.2006.260385","title":"Towards active capsular endoscopy: preliminary results on a legged platform","display_name":"Towards active capsular endoscopy: preliminary results on a legged platform","publication_year":2006,"publication_date":"2006-08-01","ids":{"openalex":"https://openalex.org/W1525118987","doi":"https://doi.org/10.1109/iembs.2006.260385","mag":"1525118987","pmid":"https://pubmed.ncbi.nlm.nih.gov/17946504"},"language":"en","primary_location":{"id":"doi:10.1109/iembs.2006.260385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2006.260385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"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' Anna, Pisa, Italy. arianna@sssup.it","Scuola Superiore Sant'' Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant' Anna, Pisa, Italy. arianna@sssup.it","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067436187","display_name":"Cesare Stefanini","orcid":"https://orcid.org/0000-0003-0989-041X"},"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":"Cesare Stefanini","raw_affiliation_strings":["Scuola Superiore Sant'' Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112422114","display_name":"Giovanni Orlandi","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":"Giovanni Orlandi","raw_affiliation_strings":["Scuola Superiore Sant'' Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057345857","display_name":"Marco Quirini","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":"Marco Quirini","raw_affiliation_strings":["Scuola Superiore Sant'' Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"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":"Paolo Dario","raw_affiliation_strings":["Scuola Superiore Sant'' Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2006","issue":null,"first_page":"2215","last_page":"2218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9901999831199646,"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":0.9901999831199646,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11378","display_name":"Gastrointestinal Bleeding Diagnosis and Treatment","score":0.9527000188827515,"subfield":{"id":"https://openalex.org/subfields/2715","display_name":"Gastroenterology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5953181982040405},{"id":"https://openalex.org/keywords/endoscopy","display_name":"Endoscopy","score":0.5430485606193542},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3568022549152374},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2580392360687256},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.19057512283325195},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.17484351992607117}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5953181982040405},{"id":"https://openalex.org/C2778451229","wikidata":"https://www.wikidata.org/wiki/Q212809","display_name":"Endoscopy","level":2,"score":0.5430485606193542},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3568022549152374},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2580392360687256},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.19057512283325195},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.17484351992607117}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","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":"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":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008904","descriptor_name":"Miniaturization","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008904","descriptor_name":"Miniaturization","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008904","descriptor_name":"Miniaturization","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":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","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":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014741","descriptor_name":"Video Recording","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014741","descriptor_name":"Video Recording","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014741","descriptor_name":"Video Recording","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D019544","descriptor_name":"Equipment Failure Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019544","descriptor_name":"Equipment Failure Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019544","descriptor_name":"Equipment Failure Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D041981","descriptor_name":"Gastrointestinal Tract","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D041981","descriptor_name":"Gastrointestinal Tract","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D041981","descriptor_name":"Gastrointestinal Tract","qualifier_ui":"Q000601","qualifier_name":"surgery","is_major_topic":false},{"descriptor_ui":"D053705","descriptor_name":"Capsule Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D053705","descriptor_name":"Capsule Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D053705","descriptor_name":"Capsule Endoscopes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/iembs.2006.260385","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2006.260385","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:17946504","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/17946504","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":"Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference","raw_type":null},{"id":"pmh:oai:www.iris.sssup.it:11382/374871","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/374871","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1575787473","https://openalex.org/W2093937828","https://openalex.org/W2139176464"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"This":[0],"paper":[1],"illustrates":[2],"the":[3,9,17,29,33,53],"problem":[4,18],"of":[5,19,35,44,73,96],"active":[6],"locomotion":[7,20],"in":[8,21,68,94],"gastrointestinal":[10],"tract":[11],"for":[12,56],"endoscopic":[13],"capsules.":[14],"Authors":[15],"analyze":[16],"unstructured,":[22],"flexible":[23],"and":[24,27,59],"tubular":[25],"environments":[26],"explain":[28],"reasons":[30],"leading":[31],"to":[32,51,82],"selection":[34],"a":[36,41,63,83],"legged":[37,45,64],"system.":[38],"They":[39],"present":[40],"theoretical":[42],"simulation":[43],"capsule":[46,57],"locomotion,":[47],"which":[48],"is":[49,79],"used":[50],"define":[52],"optimal":[54],"parameters":[55],"design":[58],"gait":[60],"selection.":[61],"Finally,":[62],"capsule--about":[65],"3":[66],"cm3":[67],"volume--is":[69],"presented;":[70],"it":[71],"consists":[72],"4":[74],"back":[75],"legs":[76],"whose":[77],"actuation":[78],"achieved":[80],"thanks":[81],"miniaturized":[84],"DC":[85],"brushless":[86],"motor.":[87],"In":[88],"vitro":[89],"tests":[90],"demonstrate":[91],"good":[92],"performance":[93],"terms":[95],"achievable":[97],"speed":[98],"(92":[99],"mm/min).":[100]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}