Publications

Book chapter

Li Wen, Daniel Vogot, Shi Zhenyun, Qi Shen and Ziyu Ren
Chapter "Advanced material for soft robotics"
in book “Design, Fabrication, Properties and Applications of Smart and Advanced Materials”.
SCIENCE PUBLISHERS, Imprint of CRC Press/ Taylor & Francis Group.  pp.342-375, 2015

Journal Publications

Wenbo Liu, Youning Duo, Jiaqi Liu, Feiyang Yuan,Lei Li, Luchen Li, Gang Wang, Bohan Chen, Siqi Wang, Hui Yang, Yuchen Liu, Yanru Mo, Yun Wang, Bin Fang, Fuchun Sun, Xilun Ding, Chi Zhang, and Li Wen*
“Touchless interactive teaching of soft robots through flexible bimodal sensory interfaces”
Nature Communications, 13, Article number: 5030(2022)
Yongqi Shi†, Gang Wang† , Wenguang Sun†, Yunfeng Ya, Shuhan Liu, Jiongjie Fang, Feiyang Yuan, Youning Duo, and Li Wen*
“A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism”
Micromachines, 2022, 13, 1188
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Lei Li╪, Siqi Wang╪, Yiyuan Zhang╪, Shanyuan Song╪, Chuqian Wang, Shaochang Tan, Wei Zhao, Gang Wang, Wenguang Sun, Fuqiang Yang, Jiaqi Liu, Bohan Chen, Haoyuan Xu, Pham Nguyen, Mirko Kovac, and Li Wen*
"Aerial-aquatic robots capable of crossing the air-water boundary and hitchhiking on surfaces"
Science Robotics, Vol 7, Issue 66, DOI: 10.1126/scirobotics.abm6695
Click on the links below for media coverage of this research:
Science Magazine video: https://www.science.org/content/article/little-bot-can-hitchhike-swim-and-swoop-ease
Popular science: https://www.popsci.com/technology/drone-modeled-after-remora/
New scientist: https://www.newscientist.com/article/2320472-robot-can-fly-swim-or-hitch-a-ride-by-sticking-to-other-objects/
Tech Xplore: https://techxplore.com/news/2022-05-quadcopter-air-underwater-suction-cup.html
New Atlas: https://newatlas.com/drones/amphibious-drone-remora-disc/
PDF Download
Wen Li, Sun Wenguang
"Editorial: Focus on research from China in Bioinspiration & Biomimetics"
Bioinspiration & Biomimetics, Accepted
PDF Download
Wang S Q, Xie Z X, Yuan F Y, et al.
"Bio-inspired physical intelligence for soft robotics"(in Chinese)
Chin Sci Bull, 2022, 67: 1–17, doi: 10.1360/TB-2021-1217
https://www.sciengine.com/publisher/scp/journal/CSB/doi/10.1360/TB-2021-1217?slug=fulltext
PDF Download
Siqi Wang, Lei Li, Wei Zhao, Yiyuan Zhang and Li Wen
A biomimetic remora disc with tunable, reversible adhesion for surface sliding and skimming
Bioinspiration & Biomimetics, Accepted, 4 January 2022
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Barbara Mazzolai, Federico Carpi, Koichi Suzumori, Matteo Cianchetti, Thomas Speck, Stoyan K.Smoukov, Ingo Burgert, Tobias Keplinger, Gilberto De Freitas Siqueira, Felix Vanneste, Olivier Goury, Christian Duriez, Thrishantha Nanayakkara, Bram Vanderborght, Joost Brancart, Seppe Terryn, Steven Rich, Ruiyuan Liu, Keniro Fukuda, Takao Someya, Marcello Calisti, Cecilia Laschi, Wenguang Sun, Gang Wang, Li Wen, Robert Baines, Sreekalvan Patiballa, Rebecca Kramer-Bottiglio, Daniela Rus, Peer Fischer, Friedrich C.Simmel and Andreas Lendlein
Roadmap on Soft Robotics: multifunctionality, adaptability and growth without borders
Multifunctional Materials, Accepted, 2022
https://doi.org/10.1088/2399-7532/ac4c95
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Haoyuan Xu, Fuqiang Yang, Yiyuan Zhang, Xinyu Jiang, and Li Wen*
"A biomimetic suction cup with a V-notch structure inspired by the net-winged midge larvae"
IEEE Robotics and Automation Letters, DOI:10.1109/LRA.2022.3146936, 2022
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Rui Chen, Zean Yuan, Jianglong Guo, Long Bai, Xinyu Zhu, Fuqiang Liu, PU Hua-Yan, Liming Xin, PENG Yan, Jun Luo, Li Wen, and Yu Sun
"Legless soft robots capable of rapid, continuous, and steered jumping"
Nature Communications, 2021, 12: 7028
Featured Article in Nature Communications!
Wenguang Sun, Gang Wang, Feiyang Yuan, Siqi Wang, Qiao Zheng, Kuang Wang, Fei Pan, Junzhi Yu and Li Wen*
"A biomimetic fish finlet with liquid metal soft sensor for proprioception and underwater sensing"
Bioinspiration & Biomimetics, Accepted, https://doi.org/10.1088/1748-3190/ac220f, 2021
Jiajie Guo, Zheng Chen, Qining Wang, Li Wen, Jun Zhang, Jianguo Zhao
"Introduction to the focused section on flexible mechatronics for robotics"
International Journal of intelligent Robotics and Applications, https://doi.org/10.1007/s41315-021-00202-2.
Hui Yang, Jiaqi Liu, Xi Fang, Zheyuan Gong, Shiqiang Wang, Shihan Kong, Junzhi Yu, Li Wen*
"Prediction model-based learning adaptive control for underwater grasping of a soft manipulator"
International Journal of intelligent Robotics and Applications, DOI：10.1007/s41315-021-00194-z,2021
Journal Best Paper Award
Bin Fang, Fuchun Sun, Linyuan Wu, Fukang Liu, Xiangxiang Wang, Haiming Huang,Wenbing Huang,Huaping Liu and Li Wen
"Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism"
Soft Robotics, DOI: 10.1089/soro.2020.0065, 2021.
B Fang, C Fang, L Wen, P Manoonpong
"Integrated, Multi-modal and Sensorimotor Coordination for Enhanced Human-Robot Interaction"
Frontiers in Neurorobotics, 15(42),2021. DOI: 10.3389/fnbot.2021.673659.
Bohan Chen, Zhuyin Shao, Zhexin Xie, Jiaqi Liu, Fei Pan, Liwen He, Li Zhang, Yanming Zhang, Xuechen Ling, Fujun Peng,
Weidong Yun and Li Wen*,
"Soft origami gripper with variable effective length"
Advanced Intelligent Systems, DOI: 10.1002/aisy.202000251, 2021.
Zhexin Xie, bohan chen, Jiaqi Liu, feiyang yuan, Zhuyin Shao, Hui Yang, August G Domel, Jingfeng Zhang, Li Wen*,
"A tapered soft robotic oropharyngeal swab for throat testing"
IEEE Robotics & Automation Magazine,28(1):90-100, 2021.DOI: 10.1109/MRA.2020.3044914.
Jiaqi Liu, Saverio Iacoponi, Cecilia Laschi, Li Wen*, Marcello Calisti*
"Underwater Mobile Manipulation: a Soft Arm on a Benthic Legged Robot"
IEEE Robotics & Automation Magazine, 27(4):12-26, 2020. DOI：10.1109/MRA.2020.3024001.
Journal cover article!
Yufei Hao, Shantonu BISWAS, Elliot wright Hawkes, Tianmiao Wang, Zhu Mengjia, Li Wen, Yon Visell*
"A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction"
IEEE Transactions on Robotics, 37(2):350-362, 2020. DOI: 10.1109/TRO.2020.30214275, eabd9158.
Li Wen*, Fei Pan, Xilun Ding,
"Tensegrity metamaterials for soft robotics"
Science Robotics, 5(45), eabd9158 2020. DOI: 10.1126/scirobotics.abd9158
Siqi Wang, Lei Li, Wenguang Sun, Dylan Wainwright, He Wang, Wei Zhao, Bohan Chen, Yufeng Chen and Li Wen*
"Detachment of the remora suckerfish disc: kinematics and a bio-inspired robotic model"
Bioinspiration & Biomimetics, Vol. 15 (5), pp. 056018, 2020. DOI:10.1088/1748-3190/ab9418

Click on the links below for media coverage of this research:
Physics Org: https://phys.org/news/2020-08-ocean-hitchhiker-sucker-mechanism-potential.html?deviceType=desktop/
News Break: https://www.newsbreak.com/amp/samsung-daily/n/0WkDLbLw
ENG talks: https://www.enggtalks.com/news/140751/ocean-hitchhiker-s-sucker-mechanism-offers-potential-for-underwa
Newsbeezer: https://newsbeezer.com/singapore/the-ocean-hitchhiking-suction-mechanism-offers-potential-for-underwater-adhesion/
FISHBIO: https://fishbio.com/news/ocean-hitchhikers-sucker-mechanism-offers-potential-underwater-adhesion
Zheyuan Gong , Xi Fang , Xingyu Chen , Jiahui Cheng, Zhexin Xie, Jiaqi Liu, Bohan Chen, Hui Yang, Shihan Kong, Yufei Hao,
Tianmiao Wang, Junzhi Yu and Li Wen*
"A soft manipulator for efficient delicate grasping in shallow water: Modeling,control, and real-world experiments"
The International Journal of Robotics Research, 40(1): 449-469, 2020. DOI: 10.1177/0278364920917203
Zhexin Xie ; Feiyang Yuan ; Zemin Liu ; Zhaoning Sun ; Elias Knubben ; Li Wen*
"A Proprioceptive Soft Tentacle Gripper Based on Crosswise Stretchable Sensors"
IEEE/ASME Transactions on Mechatronics, 25(4):1841-1850, 2020. DOI: 10.1109/TMECH.2020.2993258.
Xingyu Chen, Junzhi Yu, Shihan Kong, Zhengxing Wu, Li Wen*
"Joint Anchor-Feature Refinement for Real-Time Accurate Object Detection in Images and Videos"
IEEE Transactions on Circuits and Systems for Video Technology, 31(2):594-607, 2020. DOI: 10.1109/TCSVT.2020.2980876.
Zhexin Xie‡ August G. Domel ‡ Ning An, Connor Green, Zheyuan Gong, Tianmiao Wang, Elias M. Knubben, James C. Weaver,
Katia Bertoldi,* Li Wen,*
"Octopus arm-inspired tapered soft actuators with suckers for improved grasping"
Soft Robotics, 7(5):639-p648,2020. DOI: https://doi.org/10.1089/soro.2019.0082
Journal cover article!

Click on the links below for media coverage of this research:
Harvard Wyss Institute: https://wyss.harvard.edu/news/the-tentacle-bot/
Harvard SEAS: https://www.seas.harvard.edu/news/2020/02/tentacle-bot
Nanowerk: https://www.nanowerk.com/news2/robotics/newsid=54658.php
Harvard Crimson: https://www.thecrimson.com/article/2020/3/5/tentacle-bot-research/
Tech Explorist: https://www.techexplorist.com/octopus-inspired-tentacle-bot-sucker-grasp-objects/30435/
Mashable: https://mashable.com/article/tentacle-robot/
Siwei Su, Siqi Wang, Lei Li, Zhexin Xie, Fuchao Hao, Jinliang Xu, Shaokai Wang, Juan Guan* and Li Wen*
"Vertical Fibrous Morphology and Structure-Function Relationship in Natural and Biomimetic Suction-Based Adhesion Discs"
Matter, 2(5):1207-1221, 2020. DOI: 10.1016/j.matt.2020.01.018

Click on the links below for media coverage of this research:
Science Daily: https://www.sciencedaily.com/releases/2020/02/200226131316.htm
Cosmo: https://cosmosmagazine.com/biology/this-fish-is-a-sucker-but-no-fool
Physics Org: https://phys.org/news/2020-02-vertical-fibers-suckerfish-suction-cup-like.html
BBC Science Focus: https://www.sciencefocus.com/news/remoras-reveal-how-they-stay-stuck-under-the-sea/
Zemin Liu, Jiaqi Liu, He Wang, Xiao Yu, Kang Yang, Wenbo Liu, Shilin Nie, Wenguang Sun, Zhexin Xie, Bohan Chen,
Shuzhang Liang, Yingchun Guan, Li Wen*
"A 1mm-thick miniatured mobile soft robot with mechanosensation and multimodal locomotion"
IEEE Robotics and Automation Letters, 5(2):3291-3298, 2020. DOI: 10.1109/LRA.2020.2976306
Sun Wenguang; Liu, Zemin; Ren Ziyu; Wang Gang; Yuan Tao; and Li Wen*
"Linear Acceleration of an Undulatory Robotic Fish with Dynamic Morphing Median Fin under the Instantaneous Self-propelled Condition"
Journal of Bionic Engineering, 17(2):241-253, 2020, DOI: https://doi.org/10.1007/s42235-020-0019-2.
Hao, Yufei; Liu, Zemin; Liu, Jiaqi; Fang, Xi; fang, bin; Nie, Shilin; Guan, Ying; sun, fuchun; Wang, Tianmiao and Li Wen*
"A  soft gripper with programmable effective length, tactile and curvature sensory feedback"
Smart Materials and Structure, 29(3), 2020. doi:10.1088/1361-665x/ab6759.
Shuyun Zhuo, Ziguang Zhao, Zhexin Xie, Yufei Hao, Yichao Xu, Tianyi Zhao, Huanjun Li, Elias M. Knubben, Li Wen*, Lei Jiang
and Mingjie Liu*
"Complex multi-phase organohydrogels with programmable mechanics towards adaptive soft-matter machines"
Science Advances, 6(5):p1-10, 2020. DOI: 10.1126/sciadv.aax1464
Yang Luo, Qing Xiao, Guangyu Shi, Li Wen, Daoyi Chen, Guang Pan
"A fluid-structure interaction solver for the study on a passively deformed fish fin with non-uniformly distributed stiffness"
Journal of Fluids and Structures, DOI:10.1016/j.jfluidstructs.2019.102778, 2019.
Ziqi Wang, Dangxiao Wang, Yu Zhang, Jiaqi Liu, Li Wen, Weiliang Xu, Yuru Zhang
"A Three-Fingered Force Feedback Glove using Fiber-reinforced Soft Bending Actuators"
IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2019.2924860,2019.7.
Zheyuan Gong, Bohan Chen, Jiaqi Liu, Xi Fang, Zemin Liu, Tianmiao Wang and Li Wen*
"An Opposite-Bending-and-Extension Soft Robotic Manipulator for Delicate Grasping in Shallow Water"
Frontiers in Robotics and AI, DOI:10.3389/frobt, 2019.4.
Xingyu Chen, Junzhi Yu, Shihan Kong, Zhengxing Wu, Xi Fang and Li Wen
"Towards Real-Time Advancement of Underwater Visual Quality with GAN"
IEEE Transactions on Industrial Electronics, DOI:10.1109/tie.2019.2893840, 2019.
Weining Miao, Dianyu Wang, Zemin Liu, Zhongpeng Zhu, Can Wang Li Wen, Shuang Zheng, Ye Tian and Lei Jiang.
"Bioinspired Self-Healing Liquid Films for Ultra-Dura-ble Electronics"
ACS Nano, DOI: 10.1021/acsnano.8b08911,2019.
Lei Li, Li Wen*, Yueping Wang, Siqi Wang and Tianmiao Wang.
"Biomimetic soft adhesion robot: From biology to bionics"
SCIENTIA SINICA Technologica , 48 (12), 1275-1287, 2018. (In Chinese)
Ruoxin Li, Qing Xiao, Yuanchuan Liu, Jianxin Hu, Lijun Li, Gen Li, Hao Liu, Kainan Hu and Li Wen
"A Multi-Body Dynamics based numerical modelling tool for solving aquatic biomimetic problems"
Bioinspiration Biomimetics, 13(5),056001, 2018.
Li Wen*, Ziyu Ren, Valentina Di Santo, Kainan Hu, Tao Yuan, Tianmiao Wang, George V. Lauder.
"Understanding Fish Linear Acceleration Using an Undulatory Bio-robotic Model with Soft Fluidic Elastomer Actuated Morphing Median Fins"
Soft Robotics , DOI: 10.1089/soro.2017.0085, 2018.
Yufei Hao, Zheyuan Gong, Zhexin Xie, Shaoya Guan, Xingbang Yang, Tianmiao Wang and Li Wen*
"A Soft Pneumatic Robotic Gripper with Variable Effective Length"
Journal of Bionic Engineering, Volume 15, Issue 2, pp 220–235, 2018.
Journal cover article.
Zheyuan Gong, Jiahui Cheng, Xingyu Chen, Wenguang Sun, Xi Fang, Kainan Hu, Zhexin Xie, Tianmiao Wang and Li Wen*
"A bio-inspired soft robotic arm: kinematic modeling and hydrodynamic experiments"
Journal of Bionic Engineering, Volume 15, Issue 2, pp 204–219, 2018.
Yufei Hao, Tianmiao Wang, Zhexin Xie, Wenguang Sun, Zemin Liu, Xi Fang, Mingxuan Yang and Li Wen*
"A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties"
Journal of Micromechanics and Microengineering, 28 024004, 2018.
Yueping Wang§, Xingbang Yang§, Yufeng Chen§, Dylan K. Wainwright, Christopher P. Kenaley, Zheyuan Gong, Zemin Liu, Huan
Liu, Juan Guan, Tianmiao Wang, James C. Weaver, Robert J. Wood* and Li Wen*
"A biorobotic adhesive disc for underwater hitchhiking inspired by the remora suckerfish"
Science Robotics  , Vol. 2, Issue 10 (DOI: 10.1126/scirobotics.aan8072), 2017.
Journal cover article, featured by Science/AAAS magzine.

Click on the links below for media coverage of this research:
Reported by Science with the title of “This robotic ‘remora’ can cling to objects with a force 340 times its own weight” in doi:10.1126/science.aaq0100 at
http://www.sciencemag.org/news/2017/09/robotic-remora-can-cling-objects-force-340-times-its-own-weight
Reported by Science with the title of “How the sucker comes to grip” in DOI: 10.1126/science.357.6357.1250-f at
http://science.sciencemag.org/content/357/6357/1250.6?utm_campaign=twis_sci_2017-09-21&et_rid=263533777&et_cid=1558522
Reported by MIT Technology Review with the title of “Scientists Have Built a Shark-Sucking Robot That Is Hideous and Cool” at
https://www.technologyreview.com/the-download/608916/scientists-have-built-a-shark-sucking-robot-that-is-hideous-and-cool/
Reported by The New Scientist with the title of “Robots can hitch-hike on sharks thanks to ultrastrong sucker” at
https://www.newscientist.com/article/2148082-robots-can-hitch-hike-on-sharks-thanks-to-ultrastrong-sucker/?utm_campaign=RSS%7CNSNS&utm_source=NSNS&utm_medium=RSS&campaign_id=RSS%7CNSNS-
Reported by Live Science with the title of “Super-Sticky Robot Clings Underwater Like 'Hitchhiker' Fish” at
https://www.livescience.com/60465-robot-clings-underwater-like-hitchhiker-fish.html
Reported by National Natural Science Foundation of China (NSFC) at
www.nsfc.gov.cn/publish/portal0/tab434/info72095.htm
Yufei Hao, Tianmiao Wang, Ziyu Ren, Zheyuan Gong, Hui Wang, Xingbang Yang, Shaoya Guan, and Li Wen*
"Modeling and experiments of a soft robotic gripper in amphibious environments"
International Journal of Advanced Robotic Systems(IJARS)  , 14(3): 1729881417707148, 2017.
Junzhi Yu, Li Wen, and Ziyu Ren
"A Survey on Fabrication, Control, and Hydrodynamic Function of Biomimetic Robotic Fish"
Science China Technological Sciences  , 10.1007/s11431-016-9065-x, 2017.
Wang Wei, Jindong Liu, Guangming Xie, Li Wen, and Jianwei Zhang
“A bio-inspired electrocommunication system for small underwater robots”
Bioinspiration Biomimetics , 12(3):036002, 2017.
Tianmiao Wang, Yufei Hao, Xingbang Yang, and Li Wen*.
"Soft Robotics:Structure, Actuation, Sensing and Control"
Journal of Mechanical Engineering  , 53(13):1-13, 2017. (In Chinese)
Journal cover article!
George V. Lauder, Dylan K. Wainwright, August G. Domel, James C. Weaver, Li Wen, and Katia Bertoldi
“Structure, biomimetics, and fluid dynamics of fish skin surfaces”
PHYSICAL REVIEW FLUIDS , 1,060502, 2016.
Ziyu Ren, Kainan Hu, Tianmiao Wang and Li Wen*.
"Investigation of Fish Caudal Fin Locomotion Using a Bio-inspired Robotic Model"
International Journal of Advanced Robotic Systems(IJARS)  10.5772/63571, 2016
Ziyu Ren, Xingbang Yang, Tianmiao Wang and Li Wen*.
"Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed"
Bioinspiration Biomimetics  11 016008, 2016.
Li Wen*, Weaver, J.C., Thornycroft, P.J.M. and Lauder, G.V.*
"Hydrodynamic function of biomimetic shark skin: effect of denticle pattern and spacing"
Bioinspiration Biomimetics  10, 066010, 2015
Chuck Witt, Li Wen and George Lauder.
"Hydrodynamics of C-Start Escape Responses of Fish as Studied with Simple Physical Models"
The Integrative and Comparative Biology  doi:10.1093/icb/icv016, 2015.
Dong Xu, Shaoguang Zhang and Li Wen.
"A stiffness-adjusting method to improve thrust efficiency of a two-joint robotic fish"
Advances in Mechanical Engineering  6, 537905, 2014.(Impact Factor: 1.062)
Li Wen*, James Waver, George Lauder*.
"Biomimetic shark skin: design, fabrication and hydrodynamic function"
The Journal of Experimental Biology  217, 1656-1666, 2014.
Journal cover article!
Click on the links below for media coverage of this research:
Reported by Nature as “research highlights” with the title of “Biophysics: fast swimming with fake shark skin” in Nature 509, 7501 (2014) at
http://www.nature.com/nature/journal/v509/n7501/full/509402a.html
Reported by Science with the title of “Swimming with shark skin” at
http://news.sciencemag.org/biology/2014/05/scienceshot-swimming-sharkskin
Comment in Nature 519, S2-S3, 2015, by Julie Could with the title of “Learning from nature's best” at
http://www.nature.com/nature/journal/v519/n7544_supp/full/519S2a.html
Comment in Nature 519, S10-S11, 2015, by Elie Dolgin with the title of “Textiles: Fabrics of life” at
http://www.nature.com/nature/journal/v519/n7544_supp/full/519S10a.html?WT.ec_id=NATURE-20150326
Cover image of Journal of Experimental Biology at
http://jeb.biologists.org/content/217/10.cover-expansion
Highlighted in Journal of Experimental Biology by editor with the title of “Simulated shark skin boosts swimming” at
http://jeb.biologists.org/content/217/10/1637.2.full
Reported by BBC with the title of “3D printing reveals the power of shark skin” at
http://www.bbc.com/news/science-environment-27412460
Reported by Nature World News with the title of “Harvard Scientists 3D Print Artificial Shark Skin” at
http://www.natureworldnews.com/articles/7057/20140515/harvard-scientists-3d-print-artificial-shark-skin.htm
Reported by Discover magazine with the title of “3D printing shark skin boosts swimming speed” at
http://blogs.discovermagazine.com/d-brief/2014/05/15/3-d-printed-shark-skin-boosts-swimming-speeds/#.U6JQzZSSwfB
Reported by Popular Mechanics with the title of “Shark Skin Will Inspire Faster Swimsuits and Airplanes” at
http://www.popularmechanics.com/technology/engineering/news/shark-skin-will-inspire-faster-swimsuits-and-airplanes-16792156
Reported by Harvard University Wyss News with the title of “Researchers use multi-material 3D printing to fabricate the first biomimetic shark skin” at
http://wyss.harvard.edu/viewpage/537/
Li Wen and George Lauder.
"Understanding undulatory locomotion in fishes using an inertia-compensated flapping foil robotic device"
Bioinspiration Biomimetics  8 (4):046013 2013.
Li Wen*, T M Wang, G H Wu and J H Liang.
"Quantitative Thrust Efficiency of a Self-Propulsive Robotic Fish: Experimental Method and Hydrodynamic Investigation"
IEEE/ASME Transactions on Mechatronics. Vol.18  No.3 pp.1027-1038, 2013.
Qi Shen, Tianmiao Wang, Jianhong Liang and Li Wen.
"Hydrodynamic performance of a biomimetic robotic swimmer actuated by ionic polymer-metal composite"
Smart Material and structures Vol.22   075035, 2013.
Li Wen*, T M Wang, G H Wu and J H Liang.
"Hybrid undulatory kinematics of a robotic Mackerel (Scomberscombrus): Theoretical modeling and experimental investigation"
International Journal of Advanced robotic system, Vol. 9  pp. 1-10. DOI: 10.5772/5421, 2013.
Qi Shen, Tianmiao Wang, Jianhong Liang and Li Wen.
"Modeling and Fuzzy Control of an Efficient-Swimming Ionic Polymer-Metal Composite Actuated Robot"
International Journal of Advanced robotic system  accepted, 2013
Li Wen*, T M Wang, J H Liang and G H Wu.
"Novel method for modeling and control investigation of efficient-swimming robotic fish"
IEEE Transactions on Industrial Electronics. Vol. 59, No. 8  pp. 3176-3188, 2012.
Li Wen*, George Lauder.
"Understanding undulatory locomotion in fishes using an inertia-compensated flapping foil robotic device"
Integrative and Comparative Biology  Vol. 52 E189, 2012.
http://www.sicb.org/meetings/2012/schedule/abstractdetails.php?id=246
Li Wen*, T M Wang, G H Wu and J H Liang.
"Hydrodynamic investigation of a self-propulsive robotic fish based on a force-feedback control method"
Bioinspiration & Biomimetics. Vol. 7  036012, 2012.
T M Wang, Q Shen, Li Wen, J H Liang.
"On the thrust performance of an ionic polymer-metal composite actuated robotic fish: modeling and experimental investigation"
SCIENCE CHINA Technological Sciences  DOI: 10.1007/s11431-012-5025-0, 2012.
Li Wen*, T M Wang, G H Wu and J H Liang.
"Hybrid Undulatory Kinematics of a Robotic Mackerel (Scomber scombrus): Theoretical Modeling and Experimental Investigation"
SCIENCE CHINA Technological Sciences  55 (10): 2941-2952, 2012. Recommended as annual hot papers of SCIENCE CHINA Technological Sciences.
http://tech.scichina.com:8082/sciEe/EN/article/showHotArticle.do
J H Liang, T M Wang and Li Wen.
"Development of a Two-Joint Robotic Fish for Real-World Exploration"
Journal of Field Robotics, Vol. 28  pp. 70~79, 2011.
http://news.buaa.edu.cn/dispnews.php?type=5&nid=16678&s_table=news_txt
http://news.sohu.com/20071222/n254235292.shtml/
T M Wang, Li Wen*, J H Liang and G H Wu.
"Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail"
Li Wen is the corresponding Author.
Journal of Bionic Engineering Vol.7 56~65, 2010.
Li Wen*, G H Wu, J H Liang and J L Li.
"Hydrodynamic Experimental Investigation on Efficient Swimming of Robotic Fish Using Self-propelled Method"
International Journal of Offshore and Polar Engineering, Vol.20 pp. 167~174, 2010.

Conferences and Proceedings

Wang, Siqi, Zhao, Wei, Wainwright, D. K, Xu, Haoyuan, Li, Lei, Sun, Wenguang and Wen Li*,
" An untethered remora-inspired suckerfish robot: locomotor effects of the disc pad, undulatory body, and pectoral fins"
INTEGRATIVE AND COMPARATIVE BIOLOGY,2021, 61: E958-E959
Li, Lei, Wang, Siqi, Chen, Bohan, Song, Shanyuan, Zhao, Wei and Wen Li*,
"The biomimetic remora disc with independent compartment enables an aerial-aquatic quadrotor robot perching to diverse complex surfaces"
INTEGRATIVE AND COMPARATIVE BIOLOGY,2021, 61: E528-E529.
Zhexin Xie ; Feiyang Yuan ; Zemin Liu ; Zhaoning Sun ; Elias Knubben ; Li Wen*
"A Proprioceptive Soft Tentacle Gripper Based on Crosswise Stretchable Sensors"
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, DOI: 10.1109/TMECH.2020.2993258, 2020.
Zemin Liu, Jiaqi Liu, He Wang, Xiao Yu, Kang Yang, Wenbo Liu, Shilin Nie, Wenguang Sun, Zhexin Xie, Bohan Chen,
Shuzhang Liang, Yingchun Guan, Li Wen*
"A 1mm-thick miniatured mobile soft robot with mechanosensation and multimodal locomotion"
IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/LRA.2020.2976306, 2020.
Zemin Liu, Wenguang Sun, Ziyu Ren, Kainan Hu, Tianmiao Wang and Li Wen*
“ A Bio-inspired Robotic Fish Fin with Mechanosensation Using Conductive Liquid-Metal-Infused Soft Actuators”
IEEE-CYBER, 2019, DOI: 10.1109/CYBER46603.2019.9066766.
(Best conference paper award)
Siqi Wang, Lei Li, Yufeng Chen, Yueping Wang, Wenguang Sun, Junfei Xiao, Dylan Wainwright, Tianmiao Wang, Robert J. Wood; and Li Wen*
“ A bio-robotic remora disc with attachment and detachment capabilities for reversible underwater hitchhiking”
IEEE International Conference on Robotics and Automation (ICRA), DOI:10.1109/icra.2019.8793703, 2019.
Xi Fang, Zemin Liu, Yufei Hao, Hui Yang, Jiaqi Liu; and Li Wen*
“ A Soft Actuator with Tunable Mechanical Configurations for Object Grasping Based on Sensory Feedback”
IEEE International Conference on Soft Robotics (RoboSoft), in press, 2019.
Wang, Siqi; Li, Lei; Chen, Yufeng; Kenaley, Chris; Wainwright, Dylan; Wood, Robert; and Li Wen*
“ The detachment of remora: kinematics, dynamics, and a bio-robotic model”
Annual Meeting of Society of Integrative Orgasmic Biology, USA, in press, 2019.
George Lauder, Dylan Wainwright, Mehdi Saadat, August Domel, James Weaver, Madeline Ankhelyi, Meagan Popp, Li Wen and Katia Bertoldi,
“Shark skin: three-dimensional structure and hydrodynamic function”
Annual Meeting of the APS Division of Fluid Dynamics, in press, 2018.
Yufei Hao, Zemin Liu, Zhexin Xie, Xi Fang, Tianmiao Wang and Li Wen*
“A Variable Degree-of-Freedom and Self-sensing Soft Bending Actuator Based on Conductive Liquid Metal and Thermoplastic Polymer Composites”
IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS 2018), pp. 1-9, 2018.
Xi Fang, Yufei Hao, Zemin Liu and Li Wen*
“A Self-sensing Soft Bending Actuators with Model-based Variable Effective Length.”
The 4th International Symposium of Flexible and Stretchable Electronics, 2018.
Best Poster Award!
Zheyuan Gong, Jiahui Cheng, Kainan Hu, Tianmiao Wang and Li Wen*
“An Inverse Kinematics Method of a Soft Robotic Arm with Three-dimensional Locomotion for Underwater Manipulation”
IEEE International Conference on Soft Robotics (RoboSoft 2018), pp.516-521, 2018.
Selected as Best papers from Robosoft 2018 by Frontiers in Robotics and AI!
Yu Zhang, Dangxiao Wang*, Ziqi Wang, Yueping Wang, Li Wen* and Yuru Zhang
“A Two-Fingered Force Feedback Glove using Soft Actuators”
World Haptics, in press, 2018.
ZHEXIN, X; DOMEL, A; WENGUANG, S; KNUBBEN, E; WEAVER, J; BERTOLDI, K; and Wen, L*
“A Bio-inspired Soft Robotic Gripper Inspired by the Cephalopod Tentacles”
Annual Meeting of Society of Integrative Orgasmic Biology, San Fransisco, CA, USA, in press, 2018.
TAO, Y; KAINAN, H*; DI SATO, V; YUFEI, H; ZIYU, R; LAUDER, G; and Wen, L*
“A Bioinspired Robotic Fish Fin with Mechanosensensation Using Conductive Liquid-Metal-Infused Soft Actuators”
Annual Meeting of Society of Integrative Orgasmic Biology, San Fransisco, CA, USA, in press, 2018.
Tao Yuan, Ziyu Ren, Kainan Hu, Mengxi Ren, Siqi Wang, Tianmiao Wang and Li Wen*
“A Kalman filter based force-feedback control system for hydrodynamic investigation of unsteady aquatic propulsion.”
IEEE International Conference on Robotics and Biomimetics, 2017:1214-1219.
Best Paper in Biomimetics Award!
Xingyu Cheng, Zhengxing Wu, Junzhi Yu, and Li Wen*
“A real-time and unsupervised advancement scheme for underwater machine vision.”
Proc. IEEE Int. Conf. Cyber Technol. Autom., Control, Intell. Syst., 2017: 271–276.
Best paper award!
Hao Yufei, Wang Tianmiao, Fang Xi, Yang Kang, Mao Ling, Guan Juan and Wen Li*
“A Variable Stiffness Soft Robotic Gripper with Low-Melting-Point Alloy”
The 36th Chinese Control Conference(CCC2017), 2017 in press.
Yufei Hao, Tianmiao Wang and Li Wen*
“A Programmable Mechanical Freedom and Variable Stiffness Soft Actuator with Low Melting Point Alloy”
The 10th International Conference on Intelligent Robotics and Applications, 2017:151-161.
Best paper award!
Wang Y, Yang X, Chen Y, Kenaley CP, Liu H, Guan J, Wainwright DK, Wood RJ and Wen L*
“A Bio-robotic Remora (Echeneis naucrates) Adhesive Disc: Design, Fabrication and Function”
Annual Meeting of Society of Integrative Orgasmic Biology, New Orleans, LA, USA, JAN 04-08, 2017.
Ren Z, Di Santo V, Hu K, Yuan T, Lauder GV and Wen L*
“Understanding Fish Linear Acceleration Using an Undulatory Bio-robotic Model with Soft Fluidic Elastomer Actuated Median Fins”
Annual Meeting of Society of Integrative Orgasmic Biology, New Orleans, LA, USA, JAN 04-08, 2017.
Yang X, Wang Y, Kenaley CP, Wainwright DK, Liu H, Guan J and Wen L*
“The Contribution of Soft Tissue and Rigid Spinules to the Adhesive Ability of Remoras (Echeneis Naucrates),”
Annual Meeting of Society of Integrative Orgasmic Biology, New Orleans, LA, USA, JAN 04-08, 2017.
Lauder GV*, Thornycroft PJM, Khan M, Wainwright DK, Anderson EJ, Wen L, Alvarenga J and Aizenberg J
“Bioinspired Lubricant-Infused Surfaces Enhance Aquatic Locomotion”
Annual Meeting of Society of Integrative Orgasmic Biology, New Orleans, LA, USA, JAN 04-08, 2017.
Kainan Hu, Ziyu Ren, Yueping Wang, Wang Tianmiao and Wen Li*
“Quantitative hydrodynamic investigation of fish caudal fin cupping motion using a bio-robotic model”
IEEE International Conference on Robotics and Biomimetics , 2016: 295-300.
Zheyuan Gong, Zhexin Xie, Xinbang Yang, Tianmiao Wang and Li Wen*
“Design, Fabrication and Kinematic Modeling of a 3D-motion Soft Robotic Arm”
IEEE International Conference on Robotics and Biomimetics , 2016: 509-514.
Hui Wang, Jungong Ma, Ziyu Ren, Zheyuan Gong, Yufei Hao, Wang Tianmiao and Li Wen*
“Fiber-reinforced Soft Robotic Anthropomorphic Finger”
In Robotics and Automation Engineering (ICRAE), International Conference on. IEEE , pp.1-5, 2016.
Hao Yufei, Gong Zheyuan, Xie Zhexin, Guan Shaoya, Yang Xinbang, Ren Ziyu, Wang Tianmiao and Wen Li*
“Universal soft pneumatic robotic gripper with variable effective length”
Chinese Control Conference , pp.6109 - 6114, 2016.
Li Wen*, Yueping Wang et al.
“Morphological structure and the mechanical property of Remora (Echeneidae) adhesion disc” (Poster presentation)
IEEE International Conference on Robotics and Automation (ICRA) , 2015.
Hao Yufei, Gong Zheyuan, Xie Zhexin, Ziyu Ren, Guan Shaoya, Tianmiao Wang and Li Wen*
“Universal soft pneumatic robotic gripper with variable effective length” (Poster presentation)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2015
Ren Z Y, Wang T M and Wen L*.
“Hydrodynamic function of a robotic fish caudal fin: effect of kinematics and flow speed”
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2015: 3882-3887.
Ziyu Ren, Zhu Qichao, Tianmiao Wang, and Li Wen*
“Bio-robotic model as a scientific tool for experimentally investigating hydrodynamic functions of fish caudal fin”
ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR  2015: 232-247.
Best technical paper award!
Li Wen*, Patrick Thornycroft, James Weaver, and George Lauder.
“Hydrodynamic function of biomimetic shark skin: effect of denticle pattern and spacing”
Annual Meeting of Society of Integrative Orgasmic Biology  2015, West Palm Beach, USA.
Zhu Qichao, Cai Yingjie, Ding Rui, Ziyu Ren, Tianmiao Wang, Li Wen*
“Bio-inspired flexible robotic caudal fin with three-dimensional locomotion”
World Congress on Intelligent Control and Automation (WCICA)  pp. 1881 – 1886, 2014.
Li Wen*, George Lauder, James Weaver, Mirko Kovac and Robert Wood.
"Hydrodynamics of Self-propelling Flexible Synthetic Shark Skin Membranes"
Annual Meeting of Society of Integrative Orgasmic Biology  2013, San Francisco, USA.
http://www.sicb.org/meetings/2013/schedule/abstractdetails.php?id=1564
Aaron Boomsma, Li Wen, George Lauder, Fotis Sotiropoulos.
"Turbulent Flows Over Three-Dimensional Shark Skin"
In Annual Meeting of the APS Division of Fluid Dynamics, American Physical Society  2012, San Diego, USA.
http://meeting.aps.org/Meeting/DFD12/Event/177790
Li Wen*, George Lauder.
"Understanding undulatory locomotion in fishes using an inertia-compensated flapping foil robotic device"
Presented in Annual Meeting of Society of Integrative Orgasmic Biology  2012, Charleston, USA.
http://www.sicb.org/meetings/2012/schedule/abstractdetails.php?id=246
Li Wen*, Guanhao Wu, Tianmiao Wang, Jianhong Liang.
"Experimental hydrodynamic investigation of undulatory? swimming using a self-propulsion robotic device"
Poster presentation in International conference on Bionic Engineering  September, 2011.
Li Wen*, Tianmiao Wang, Jianhong Liang, Guanhao Wu.
"A novel method based on a force-feedback technique for the hydrodynamic investigation of kinematics effects on robotic fish"
In Proc. IEEE Int. Conf. Robotics and Automation (ICRA)  pp. 203-208, 2011.
Li Wen* Guanhao Wu Jianhong Liang Jinlan Li.
"Hydrodynamic Experimental Investigation On Efficient Swimming Of Robotic Fish Using Self-propelled Method"
Conference Best student paper award.
In Proceedings of the International Offshore and Polar Engineering Conference (ISOPE) v2, pp:327-334, 2010.
http://www.isope.org/ocean&polarupdates/2010/July_1_2010_ISOPE_Best.htm
Li Wen*, Tianmiao Wang, Jianhong Liang, Guanhao Wu.
"A novel method for simultaneous measurement of internal and external hydrodynamic force of self-propelled robotic fish"
In IEEE/RSJ International Conference on Intelligent Robotics and Systems pp:952-957, 2010.
Li Wen*, Wang T M, Liang J H, et al.
"Fuzzy logic vorticity control of oscillating foil UUV"
In IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS). pp: 1019-1024. 2009.