IEEE Robotics & Automation Magazine - September 2023 - 103

cognitive and physical task load for skilled operators of
borescope and continuum robot technologies.
DEMONSTRATION
To demonstrate the capabilities of the COBRA system, the
robot has been driven by both skilled and unskilled operators
in two realistic scenarios: aeroengine inspection and intervention
in a pipeline junction. Furthermore, a medical application
in throat surgery is reported to show how the proposed design
can be adapted to other fields with similar requirements (intervention
at reach in enclosed spaces). In this section, we outline
the challenges behind these use cases and how COBRA
overcomes them.
AEROSPACE
Aircraft engines represent one of the most challenging borescope
inspection scenarios. With narrow access ports often
Planar Motion of the MASs
ziˆ
Diathermy
Cutter
ziˆ
ziˆ
Tweezers
ziˆ
Open
Cutter on a Side While Bending out of Plane
yi
{Si}
ziˆ
xi
{Si}
Closing
on a Side
{Si}
Closing
in the Center
(a)
Camera
MAS
xi
{Si}
Open
Configuration
Diathermy Cutter
xi
Closed
Closing in the Center
While Bending out of Plane
(b)
on the order of 10 mm in diameter, a long reach of several
meters required to perform a full inspection, and tortuous
paths around the combustion chamber or turbine blades,
this scenario requires high mobility, a long reach, and an
operator able to drive the system along complex trajectories
with only the feedback of the onboard camera. As shown in
Figure 8, the added mobility of the COBRA active segment
simplifies this operation in several stages, from the initial
insertion [Figure 8(b)] to the final inspection [the top of Figure
8(d)]. The LED lights at the tip of the camera probe
[Figure 8(c)] ensure full functionality even in dark environments.
Furthermore, the location of the access ports often
requires operators to stand, crawl, or sit in uncomfortable
positions throughout an entire inspection to manually feed
the borescope in, leading to health and safety issues that can
range from mild discomfort to repetitive strain injuries and
chronic pain. This problem can be fully circumvented by
3D Motion of the MASs
Camera
Holder
{Si}
yi
Tweezers
Gag
COBRA Body
Mouth
Cavity
(c)
(d)
FIGURE 10. The medical demonstration. (a) A top view of the EE design. (b) A side view of the EE design. (c) A close-up view of the EE
accessing the throat via the mouth cavity. (d) Snapshots of the EE camera view during operation, with the continuum robot accessing the
throat and positioning in a specific region of interest.
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
103

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
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IEEE Robotics & Automation Magazine - September 2023 - 1
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IEEE Robotics & Automation Magazine - September 2023 - Cover3
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