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

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, in press, 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 Biomimetics11 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 Biomimetics10, 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 Biologydoi: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 Engineering6, 537905, 2014.(Impact Factor: 1.062)
Li Wen*, James Waver, George Lauder.
"Biomimetic shark skin: design, fabrication and hydrodynamic function"
The Journal of Experimental Biology217,?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 Biomimetics8 (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.18No.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. 9pp. 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 systemaccepted, 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. 8pp. 3176-3188, 2012.
Li Wen*, George Lauder.
"Understanding undulatory locomotion in fishes using an inertia-compensated flapping foil robotic device"
Integrative and Comparative BiologyVol. 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. 7036012, 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 SciencesDOI: 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 Sciences55 (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. 28pp. 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; 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), in press, 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!.
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 Li Wen*
“Universal soft pneumatic robotic gripper with variable effective length”
Chinese Control Conference , pp.6109 - 6114, 2016.
Li Wen*, Wang Yueping 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 CLAWAR2015: 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 Biology2015, 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 Biology2013, 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 Biology2012, 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 EngineeringSeptember, 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.