{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T03:25:31Z","timestamp":1777605931598,"version":"3.51.4"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2022,9,27]],"date-time":"2022-09-27T00:00:00Z","timestamp":1664236800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,9,27]],"date-time":"2022-09-27T00:00:00Z","timestamp":1664236800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2022,11]]},"DOI":"10.1007\/s11370-022-00443-5","type":"journal-article","created":{"date-parts":[[2022,9,27]],"date-time":"2022-09-27T20:19:36Z","timestamp":1664309976000},"page":"661-669","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Experimental investigation of a new type of driving concept for capsule robot"],"prefix":"10.1007","volume":"15","author":[{"given":"Linlin","family":"Wu","sequence":"first","affiliation":[]},{"given":"Kaiyuan","family":"Lu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,9,27]]},"reference":[{"key":"443_CR1","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1016\/j.gie.2018.06.016","volume":"89","author":"S Marya","year":"2019","unstructured":"Marya S, Jawaid A, Foley S, Han K, Patel L (2019) A randomized controlled trial comparing efficacy of early video capsule endoscopy with standard of care in the approach to nonhematemesis GI bleeding. Gastrointest Endosc 89:33\u201343","journal-title":"Gastrointest Endosc"},{"key":"443_CR2","doi-asserted-by":"publisher","first-page":"26","DOI":"10.5946\/ce.2016.49.1.26","volume":"49","author":"JC Saurin","year":"2016","unstructured":"Saurin JC, Beneche N, Chambon C et al (2016) Challenges and future of wireless capsule endoscopy. Clinical Endo 49:26\u201329","journal-title":"Clinical Endo"},{"key":"443_CR3","doi-asserted-by":"publisher","first-page":"5","DOI":"10.3389\/fmed.2016.00006","volume":"3","author":"RA Hejazi","year":"2016","unstructured":"Hejazi RA, Bashashati M, Saadi M et al (2016) Video capsule endoscopy: a tool for the assessment of small bowel transit time. Front Med 3:5","journal-title":"Front Med"},{"key":"443_CR4","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1049\/iet-ipr.2019.0251","volume":"14","author":"B Abbas","year":"2020","unstructured":"Abbas B, Fatemeh A, Reza A (2020) Integrated system for automatic detection of representative video frames in wireless capsule endoscopy using adaptive sliding window singular value decomposition. IET Image Proc 14:147\u2013153","journal-title":"IET Image Proc"},{"key":"443_CR5","doi-asserted-by":"publisher","first-page":"397","DOI":"10.1146\/annurev-bioeng-071811-150006","volume":"14","author":"SM Valdastri","year":"2012","unstructured":"Valdastri SM, Webster RJ (2012) Advanced technologies for gastrointestinal endoscopy. Annu Rev Biomed Eng 14:397\u2013429","journal-title":"Annu Rev Biomed Eng"},{"key":"443_CR6","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/TMECH.2008.918491","volume":"13","author":"M Quirini","year":"2018","unstructured":"Quirini M, Menciassi A, Scapellato S, Stefanini C (2018) Design and fabrication of a motor legged capsule for the active exploration of the gastrointestinal tract. IEEE\/ASME Trans Mechatron 13:169\u2013179","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"443_CR7","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2016\/4159745","volume":"2016","author":"HJ Chun","year":"2016","unstructured":"Chun HJ, Tanabe S, Choi MG et al (2016) Current status and future directions of capsule endoscopy. Gastroenterol Res Pract 2016:1\u201351","journal-title":"Gastroenterol Res Pract"},{"key":"443_CR8","doi-asserted-by":"publisher","first-page":"102","DOI":"10.1007\/s10544-016-0129-0","volume":"18","author":"H Zhou","year":"2016","unstructured":"Zhou H, Alici G, Munoz F (2016) A magnetically actuated anchoring system for a wireless endoscopic capsule. Biomed Microdevices 18:102","journal-title":"Biomed Microdevices"},{"key":"443_CR9","doi-asserted-by":"publisher","first-page":"1324","DOI":"10.1109\/TBME.2014.2386309","volume":"62","author":"R Caprara","year":"2015","unstructured":"Caprara R, Obstein KL, Scozzarro G et al (2015) A platform for gastric cancer screening in low-and middle-income countries. IEEE Trans Biomed Eng 62:1324\u20131332","journal-title":"IEEE Trans Biomed Eng"},{"key":"443_CR10","doi-asserted-by":"publisher","DOI":"10.1115\/1.4037735","author":"A Alshorman","year":"2018","unstructured":"Alshorman A, Hurmuzlu Y (2018) Kinematic locomotion modes of particle-based linear chain mechanisms. ASME J Dyn Sys Meas Control. https:\/\/doi.org\/10.1115\/1.4037735","journal-title":"ASME J Dyn Sys Meas Control"},{"key":"443_CR11","doi-asserted-by":"publisher","first-page":"2067","DOI":"10.1109\/TMECH.2014.2362117","volume":"20","author":"C Lee","year":"2015","unstructured":"Lee C et al (2015) Active locomotive intestinal capsule endoscope (ALICE) system: A prospective feasibility study. IEEE\/ASME Trans Mechatron 20:2067\u20132074","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"443_CR12","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1109\/RBME.2015.2451031","volume":"8","author":"L Liu","year":"2015","unstructured":"Liu L, Towfighian S, Hila A (2015) A review of locomotion systems for capsule endoscopy. IEEE Rev Biomed Eng 8:138\u2013151","journal-title":"IEEE Rev Biomed Eng"},{"key":"443_CR13","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1109\/RBME.2011.2171182","volume":"4","author":"G Ciuti","year":"2011","unstructured":"Ciuti G, Menciassi A, Dario P (2011) Capsule endoscopy: from current achievements to open challenges. IEEE Rev Biomed Eng 4:59\u201372","journal-title":"IEEE Rev Biomed Eng"},{"key":"443_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12213-016-0087-x","volume":"11","author":"G Ciuti","year":"2016","unstructured":"Ciuti G, Cali\u00f2 R, Camboni D, Neri L, Bianchi F, Arezzo A et al (2016) Frontiers of robotic endoscopic capsules: a review. J Micro-Bio Robot 11:1\u201318","journal-title":"J Micro-Bio Robot"},{"key":"443_CR15","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1055\/s-0042-114428","volume":"48","author":"HJ Pullens","year":"2016","unstructured":"Pullens HJ, Van-der-Stap N, Rozeboom ED et al (2016) Colonoscopy with robotic steering and automated lumen centralization: a feasibility study in a colon model. Endoscopy 48:286\u2013290","journal-title":"Endoscopy"},{"key":"443_CR16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/17434440.2019.1608182","volume":"16","author":"F Bianchi","year":"2019","unstructured":"Bianchi F et al (2019) Localization strategies for robotic endoscopic capsules: a review. Expert Rev Med Devices 16:1\u201323","journal-title":"Expert Rev Med Devices"},{"key":"443_CR17","doi-asserted-by":"crossref","unstructured":"Alshorman AM, Ababneh OA, Abushaker AI, Tamimi EM, Bani-yassin OZ (2021) A novel design of a locomotion system for Active capsule endoscopy. In: 7th Int Conf Mechatron Robot Eng (ICMRE), pp. 93\u201397","DOI":"10.1109\/ICMRE51691.2021.9384823"},{"key":"443_CR18","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1089\/soro.2018.0015","volume":"6","author":"EB Joyee","year":"2019","unstructured":"Joyee EB, Pan Y (2019) A fully three-dimensional printed inchworminspired soft robot with magnetic actuation. Soft Rob 6:1","journal-title":"Soft Rob"},{"key":"443_CR19","doi-asserted-by":"publisher","first-page":"93364","DOI":"10.1109\/ACCESS.2019.2927894","volume":"7","author":"MC Hoang","year":"2019","unstructured":"Hoang MC, Lee VH, Kim J et al (2019) Untethered robotic motion and rotating blade mechanism for actively locomotive biopsy capsule endoscope. IEEE Access 7:93364\u201393374","journal-title":"IEEE Access"},{"key":"443_CR20","unstructured":"Alshorman A, Hurmuzlu Y (2015) Dynamics and control of particle based chain mechanism. PhD thesis, Southern Methodist University."},{"key":"443_CR21","doi-asserted-by":"publisher","first-page":"68","DOI":"10.1007\/s10544-015-9972-7","volume":"17","author":"W Xie","year":"2015","unstructured":"Xie W, Kothari V, Terry BS (2015) A bio-inspired attachment mechanism for long-term adhesion to the small intestine. Biomed Microdevices 17:68","journal-title":"Biomed Microdevices"},{"key":"443_CR22","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1109\/TRO.2009.2014127","volume":"25","author":"P Valdastri","year":"2009","unstructured":"Valdastri P, Webster RJ, Quaglia C, Quirini M, Menciassi A, Dario P (2009) A new mechanism for mesoscale legged locomotion in compliant tubular environments. IEEE Trans Robot 25:1047\u20131057","journal-title":"IEEE Trans Robot"},{"key":"443_CR23","doi-asserted-by":"publisher","first-page":"545","DOI":"10.1109\/TRO.2019.2949466","volume":"36","author":"A Gregory","year":"2020","unstructured":"Gregory A, Micah P, Steven A et al (2020) Novel optimization-based design and surgical evaluation of a treaded robotic capsule colonoscope. IEEE Trans Robotics 36:545\u2013552","journal-title":"IEEE Trans Robotics"},{"key":"443_CR24","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1177\/1756283X16633052","volume":"9","author":"HL Ching","year":"2016","unstructured":"Ching HL, Hale MF, Mc Alindon ME (2016) Current and future role of magnetically assisted gastric capsule endoscopy in the upper gastrointestinal tract. Ther Adv Gastroenterol 9:313\u2013321","journal-title":"Ther Adv Gastroenterol"},{"key":"443_CR25","first-page":"5000109","volume":"52","author":"YS Zhang","year":"2016","unstructured":"Zhang YS, Chi ML, Su ZK et al (2016) Critical coupling magnetic moment of a petal-shaped capsule robot. IEEE Trans Magn 52:5000109","journal-title":"IEEE Trans Magn"},{"key":"443_CR26","doi-asserted-by":"publisher","first-page":"428","DOI":"10.1007\/s40846-015-0055-2","volume":"35","author":"G Lucarini","year":"2015","unstructured":"Lucarini G, Mura M, Ciuti G et al (2015) Electromagnetic control system for capsule navigation: novel concept for magnetic capsule maneuvering and preliminary study. J Med Biol Eng 35:428\u2013436","journal-title":"J Med Biol Eng"},{"key":"443_CR27","doi-asserted-by":"publisher","first-page":"853","DOI":"10.1007\/s00419-016-1183-z","volume":"87","author":"KT B\u00f6hmV","year":"2017","unstructured":"B\u00f6hmV KT, Zeidis I, Zimmermann K (2017) Dynamic analysis of a spherical mobile robot based on a tensegrity structure with two curved compressed members. Arch Appl Mech 87:853\u2013864","journal-title":"Arch Appl Mech"},{"key":"443_CR28","doi-asserted-by":"publisher","first-page":"461","DOI":"10.1007\/s00419-011-0567-3","volume":"82","author":"H-B Fang","year":"2012","unstructured":"Fang H-B, Xu J (2012) Controlled motion of a two-module vibration-driven system induced by internal acceleration-controlled masses. Arch Appl Mech 82:461\u2013477","journal-title":"Arch Appl Mech"},{"key":"443_CR29","doi-asserted-by":"publisher","first-page":"2416","DOI":"10.1177\/0142331217708833","volume":"40","author":"P Liu","year":"2018","unstructured":"Liu P, Yu H, Cang S (2018) Geometric analysis-based trajectory planning and control for under actuated capsule systems with viscoelastic property. Trans Inst Meas Control 40:2416\u20132427","journal-title":"Trans Inst Meas Control"},{"key":"443_CR30","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1007\/s10514-015-9434-3","volume":"39","author":"MN Huda","year":"2015","unstructured":"Huda MN, Yu H (2015) Trajectory tracking control of an underactuated capsubot. Auton Robots 39:183\u2013198","journal-title":"Auton Robots"},{"issue":"2","key":"443_CR31","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1016\/j.ijmecsci.2012.09.012","volume":"66","author":"Y Liu","year":"2013","unstructured":"Liu Y, Wiercigroch M, Pavlovskaia E, Yu H (2013) Modelling of a vibro-impact capsule system. Int J Mech Sci 66(2):11. https:\/\/doi.org\/10.1016\/j.ijmecsci.2012.09.012","journal-title":"Int J Mech Sci"},{"key":"443_CR32","doi-asserted-by":"publisher","first-page":"493","DOI":"10.1016\/j.jappmathmech.2011.11.001","volume":"75","author":"FL Chernous\u2019ko","year":"2011","unstructured":"Chernous\u2019ko FL (2011) Analysis and optimization of the rectilinear motion of a two-body system. J Appl Math Mech 75:493\u2013500","journal-title":"J Appl Math Mech"},{"key":"443_CR33","doi-asserted-by":"publisher","first-page":"1029","DOI":"10.1007\/s11071-015-2385-6","volume":"83","author":"Y Liu","year":"2016","unstructured":"Liu Y, Pavlovskaia E, Wiercigroch M (2016) Experimental verification of the vibro-impact capsule model. Nonlinear Dyn 83:1029\u20131041","journal-title":"Nonlinear Dyn"},{"key":"443_CR34","doi-asserted-by":"publisher","first-page":"2199","DOI":"10.1007\/s00419-018-1444-0","volume":"88","author":"P Liu","year":"2018","unstructured":"Liu P, Yu H, Cang S (2018) On the dynamics of a vibro-driven capsule system. Arch Appl Mech 88:2199\u20132219","journal-title":"Arch Appl Mech"},{"key":"443_CR35","doi-asserted-by":"publisher","first-page":"126","DOI":"10.1016\/j.jappmathmech.2008.04.013","volume":"72","author":"NN Bolotnik","year":"2008","unstructured":"Bolotnik NN, Figurina TY (2008) Optimal control of the rectilinear motion of a rigid body on a rough plane by means of the motion of two internal masses. J Appl Math Mech 72:126\u2013135","journal-title":"J Appl Math Mech"},{"key":"443_CR36","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/S0021-8928(02)00002-3","volume":"66","author":"FL Chernousko","year":"2002","unstructured":"Chernousko FL (2002) The optimum rectilinear motion of a two-mass system. J Appl Math Mech 66:1\u20137","journal-title":"J Appl Math Mech"},{"key":"443_CR37","first-page":"528","volume":"480","author":"FL Chernous\u2019ko","year":"2018","unstructured":"Chernous\u2019ko FL (2018) Optimal control of the motion of two-mass system. Dokl Akad Nauk 480:528\u2013532","journal-title":"Dokl Akad Nauk"},{"key":"443_CR38","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1016\/j.ifacol.2015.11.065","volume":"48","author":"NN Bolotnik","year":"2015","unstructured":"Bolotnik NN, Chernous\u2019ko FL, Figurina T (2015) Optimal control of a two-body: vibration-driven locomotion system in a resistive environment. IFAC PapersOnLine 48:91\u201396","journal-title":"IFAC PapersOnLine"},{"key":"443_CR39","doi-asserted-by":"publisher","first-page":"1781","DOI":"10.1007\/s11071-018-4161-x","volume":"92","author":"X Gu","year":"2018","unstructured":"Gu X, Deng Z (2018) Dynamical analysis of vibro-impact capsule system with Hertzian contact model and random perturbation excitations. Nonlinear Dyn 92:1781\u20131789","journal-title":"Nonlinear Dyn"},{"key":"443_CR40","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1016\/j.ijnonlinmec.2014.10.009","volume":"70","author":"PE LiuY","year":"2015","unstructured":"LiuY PE, Wiercigroch M, Peng Z (2015) Forward and backward motion control of a vibro-impact capsule system. Int J Non-Linear Mech 70:30\u201346","journal-title":"Int J Non-Linear Mech"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00443-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-022-00443-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00443-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,10,26]],"date-time":"2022-10-26T14:38:49Z","timestamp":1666795129000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-022-00443-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,27]]},"references-count":40,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2022,11]]}},"alternative-id":["443"],"URL":"https:\/\/doi.org\/10.1007\/s11370-022-00443-5","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,27]]},"assertion":[{"value":"30 November 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 August 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 September 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflict of interest to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}