IEEE Robotics & Automation Magazine - September 2023 - 94
A Continuum Robot
for Remote
Applications
From Industrial to
Medical Surgery
With Slender
Continuum Robots
©SHUTTERSTOCK.COM/PRODUCTION PERIG
By David Alatorre Troncoso ,
Jose A. Robles-Linares
,
Matteo Russo,
Mohamed A. Elbanna, Samuel Wild
,
Xin Dong , Abdelkhalick Mohammad ,
James Kell, Andy D. Norton,
and Dragos Axinte
Digital Object Identifier 10.1109/MRA.2022.3223220
Date of current version: 5 December 2022
94
IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
The maintenance of critical industrial components is often hindered by
limited access, tortuous passages, and complex geometries. In highly
constrained environments, inspection tasks are currently performed
with borescopes, but even skilled operators struggle with hard-to-reach
targets, and the limited mobility prevents in situ repair when defects
are identified. Thanks to an active shape control, snake-like and continuum
robots can outperform borescopes for short-range inspection as
well as enable intervention. However, their actuation technology limits
their scalability in length, as longer bodies pose control challenges
due to their intrinsically low stiffness and space constraints. To
1551-319X © 2022 Crown Copyright
http://www.SHUTTERSTOCK.COM/PRODUCTION
https://orcid.org/0000-0001-9370-3124
https://orcid.org/0000-0002-9463-6688
https://orcid.org/0000-0002-7160-7470
https://orcid.org/0000-0001-9337-9379
https://orcid.org/0000-0001-7623-125X
https://orcid.org/0000-0002-3595-0933
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
IEEE Robotics & Automation Magazine - September 2023 - Cover2
IEEE Robotics & Automation Magazine - September 2023 - 1
IEEE Robotics & Automation Magazine - September 2023 - Contents
IEEE Robotics & Automation Magazine - September 2023 - 3
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IEEE Robotics & Automation Magazine - September 2023 - Cover3
IEEE Robotics & Automation Magazine - September 2023 - Cover4
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