{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T21:12:24Z","timestamp":1780607544307,"version":"3.54.1"},"reference-count":27,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T00:00:00Z","timestamp":1571616000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,10,21]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title><jats:p>This paper aims to introduce an aircraft engine inspection robot (AEIR) which can go in the internal of the aircraft engine without collision and detect damage for engine blades.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title><jats:p>To obtain the position and pose information of the blades inside the engine, a novel tactile sensor based on electrical impedance tomography (EIT) is developed, which could provide location and direction information when it contacts with an unknown object. In addition, to navigate the continuum robot, a control method is proposed to control the continuum robot, which can control the continuum robot to move along the pre-planned path and reduce the deviation from the planned path.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title><jats:p>Experiment results show that the average error of contact location measurement of the tactile sensor is 0.8\u2009mm. The average error relative to the size (diameter of 18\u2009mm) of the sensor is 4.4%. The continuum robot can successfully reach the target position through a gap of 30\u2009mm and realize the spatial positioning of blades. The validity of the AEIR for engine internal blade detection is verified.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title><jats:p>The aero-engine inspection robot developed in this paper can replace human to detect engine blades and complete different detection tasks with different kinds of sensors.<\/jats:p><\/jats:sec>","DOI":"10.1108\/ir-06-2019-0132","type":"journal-article","created":{"date-parts":[[2019,10,22]],"date-time":"2019-10-22T09:37:48Z","timestamp":1571737068000},"page":"121-130","source":"Crossref","is-referenced-by-count":13,"title":["An inspection continuum robot with tactile sensor based on electrical impedance tomography for exploration and navigation in unknown environment"],"prefix":"10.1108","volume":"47","author":[{"given":"Yaming","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Feng","family":"Ju","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yahui","family":"Yun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiafeng","family":"Yao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yaoyao","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Guo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bai","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","reference":[{"issue":"9","key":"key2020052608425019900_ref001","doi-asserted-by":"crossref","first-page":"488","DOI":"10.1784\/insi.2010.52.9.488","article-title":"Reliable thermosonic inspection of aero engine turbine blades","volume":"52","year":"2010","journal-title":"Insight - Non-Destructive Testing and Condition Monitoring"},{"issue":"Supplement 2","key":"key2020052608425019900_ref002","first-page":"345","article-title":"Robot-operated inspection of aircraft engine turbine rotor guide vane segment geometry","volume":"24","year":"2017","journal-title":"Tehnicki Vjesnik \u2013 Technical Gazette"},{"issue":"8","key":"key2020052608425019900_ref003","first-page":"2279","article-title":"Detection of vesicoureteral reflux using electrical impedance tomography","volume":"66","year":"2018","journal-title":"IEEE Transactions on Biomedical Engineering"},{"issue":"2","key":"key2020052608425019900_ref004","first-page":"121","article-title":"Precise position control of shape memory alloy\u2013actuated continuum modules through fuzzy algorithm","volume":"232","year":"2018","journal-title":"Proceedings of the Institution of Mechanical Engineers"},{"key":"key2020052608425019900_ref005","first-page":"90","article-title":"Developing a novel continuum module actuated by shape memory alloys","volume":"247","year":"2016","journal-title":"Sensors and Actuators A: Physical"},{"issue":"21","key":"key2020052608425019900_ref006","doi-asserted-by":"crossref","first-page":"1801061","DOI":"10.1002\/admi.201801061","article-title":"Recent advances in large\u2010scale tactile sensor arrays based on a transistor matrix","volume":"5","year":"2018","journal-title":"Advanced Materials Interfaces"},{"key":"key2020052608425019900_ref007","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.proeng.2014.09.062","article-title":"Comprehensive analysis of structural safety and durability for Aero-Engine","volume":"80","year":"2014","journal-title":"Procedia Engineering"},{"key":"key2020052608425019900_ref008","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.mechatronics.2017.11.002","article-title":"Robotic tactile perception of object properties: a review","volume":"48","year":"2017","journal-title":"Mechatronics"},{"key":"key2020052608425019900_ref009","doi-asserted-by":"crossref","first-page":"3137","DOI":"10.1109\/IROS.2016.7759485","article-title":"Iterative closest labeled point for tactile object shape recognition","volume-title":"2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","year":"2016"},{"issue":"3","key":"key2020052608425019900_ref010","doi-asserted-by":"crossref","first-page":"630","DOI":"10.1109\/TRO.2011.2120830","article-title":"A probabilistic approach to tactile shape reconstruction","volume":"27","year":"2011","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"key2020052608425019900_ref011","doi-asserted-by":"crossref","first-page":"569","DOI":"10.1109\/TRO.2011.2138450","article-title":"Global localization of objects via touch","volume":"27","year":"2011","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"key2020052608425019900_ref012","doi-asserted-by":"crossref","first-page":"e2007","DOI":"10.1002\/rcs.2007","article-title":"Kinematic analysis and navigation method of a cable\u2010driven continuum robot used for minimally invasive surgery","volume":"15","year":"2019","journal-title":"The International Journal of Medical Robotics and Computer Assisted Surgery"},{"key":"key2020052608425019900_ref013","first-page":"2849","article-title":"Continuum robots-a state of the art","volume-title":"Proceedings 1999 IEEE international conference on robotics and automation (Cat. No. 99CH36288C)","year":"1999"},{"key":"key2020052608425019900_ref014","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1109\/ICRA.2017.7989049","article-title":"Touch based localization of parts for high precision manufacturing","volume-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)","year":"2017"},{"issue":"7","key":"key2020052608425019900_ref015","doi-asserted-by":"crossref","first-page":"107","DOI":"10.5772\/60857","article-title":"Points-based safe path planning of continuum robots","volume":"12","year":"2015","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"1","key":"key2020052608425019900_ref016","first-page":"2891","article-title":"Aero-Engine maintenance cost optimization by RCM","volume":"10","year":"2013","journal-title":"Life Science Journal"},{"issue":"6","key":"key2020052608425019900_ref017","doi-asserted-by":"crossref","first-page":"12782","DOI":"10.3390\/s150612782","article-title":"A rapid method to achieve aero-engine blade form detection","volume":"15","year":"2015","journal-title":"Sensors"},{"issue":"1","key":"key2020052608425019900_ref018","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1108\/01439910510573318","article-title":"Tactile sensing in intelligent robotic manipulation \u2013 a review","volume":"32","year":"2005","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020052608425019900_ref019","article-title":"Regional lung function determined by electrical impedance tomography in lung-healthy adults","year":"2016","journal-title":"Eur Respiratory Soc"},{"key":"key2020052608425019900_ref020","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/j.cej.2019.01.014","article-title":"Highly stretchable, anti-corrosive and wearable strain sensors based on the PDMS\/CNTs decorated elastomer nanofiber composite","volume":"362","year":"2019","journal-title":"Chemical Engineering Journal"},{"issue":"6","key":"key2020052608425019900_ref021","first-page":"3469","article-title":"A new adaptive time-delay control scheme for cable-driven manipulators","volume":"15","year":"2018","journal-title":"IEEE Transactions on Industrial Informatics"},{"issue":"10","key":"key2020052608425019900_ref022","doi-asserted-by":"crossref","first-page":"2735","DOI":"10.1109\/TBME.2013.2264287","article-title":"Air-float palpation probe for tissue abnormality identification during minimally invasive surgery","volume":"60","year":"2013","journal-title":"IEEE Transactions on Biomedical Engineering"},{"issue":"1","key":"key2020052608425019900_ref023","doi-asserted-by":"crossref","first-page":"011006","DOI":"10.1115\/1.4000519","article-title":"Analytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integrals","volume":"2","year":"2010","journal-title":"Journal of Mechanisms and Robotics"},{"issue":"24","key":"key2020052608425019900_ref024","doi-asserted-by":"crossref","first-page":"8196","DOI":"10.1109\/JSEN.2017.2682929","article-title":"Application of process tomography to multiphase flow measurement in industrial and biomedical fields: a review","volume":"17","year":"2017","journal-title":"IEEE Sensors Journal"},{"issue":"4","key":"key2020052608425019900_ref025","doi-asserted-by":"crossref","first-page":"1972","DOI":"10.1109\/LRA.2017.2716444","article-title":"Shape-reconstruction-based force sensing method for continuum surgical robots with large deformation","volume":"2","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"4","key":"key2020052608425019900_ref026","first-page":"1685","article-title":"A piezoresistive tactile sensor array for touchscreen panels","volume":"18","year":"2017","journal-title":"IEEE Sensors Journal"},{"key":"key2020052608425019900_ref027","first-page":"1","article-title":"A high-density flexible tactile sensor array for fingertip sensing","volume-title":"2018 14th IEEE International Conference on Solid-State and Integrated Circuit Technology (ICSICT)","year":"2018"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2019-0132\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2019-0132\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:20Z","timestamp":1753393160000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/1\/121-130\/186643"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,21]]},"references-count":27,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,10,21]]}},"alternative-id":["10.1108\/IR-06-2019-0132"],"URL":"https:\/\/doi.org\/10.1108\/ir-06-2019-0132","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2019,10,21]]}}}