The full publish list (journal & conference & patent) can be found at Google Scholar

2025

  • Hao Ren, Liu Yang, Hong-yuan Chang, Tieshan Zhang, Gen Li, Xiong Yang, Yifeng Tang, Wanfeng Shang, Yajing Shen*, “A Robust and Omnidirectional-sensitive Electronic Antenna for Tactile-induced Perception,” Nature Communications, accepted (2025).
  • Xiong Yang, Hao Ren, Dong Guo, Zhengrong Ling, Tieshan Zhang, Gen Li, Yifeng Tang, Haoxiang Zhao, Jiale Wang, Hongyuan Chang, Gao Tsz Ki, Jia Dong, Wu Ningxin, Yajing Shen*, “A Soft Tactile Unit with 3D Force and Temperature Mathematical Decoupling Ability for Robots,” Engineering (2025).
  • Yifeng Tang, Gen Li, Tieshan Zhang, Hao Ren, Xiong Yang, Liu Yang, Dong Guo, Yajing Shen*, “Digital Channel-Enabled Distributed Force Decoding via Small Datasets for Hand-Centric Interactions,” Science Advances, 11, eadt2641 (2025).

2024

  • Tieshan Zhang#, Gen Li#, Hao Ren, Liu Yang, Xiong Yang, Rong Tan, Yifeng Tang, Dong Guo, Haoxiang Zhao, Wanfeng Shang, Yajing Shen*, “Sub-Millimeter Fiberscopic Robot with Integrated Maneuvering, Imaging, and Biomedical Operation Abilities,” Nature Communications, 15, 10874 (2024). [Editors’ Highlights: one of the 50 best papers recently published in the area of “Devices”]
  • Rong Tan#, Xiong Yang#, Haojian Lu, Yajing Shen*. “One-Step Formation of Polymorphous Sperm-Like Microswimmers by Vortex Turbulence-Assisted Microfluidics,” Nature Communications, 15, 4761 (2024). [Editors’ Highlights: one of the 50 best papers recently published in the area of “Applied physics and mathematics”]
  • Yuanyuan Yang, Yajing Shen*. “A Liquid Metal-Based Module Emulating the Intelligent Preying Logic of Flytrap,” Nature Communications, 15, 3398 (2024).

2023

  • Liu Yang#, Tieshan Zhang#, Han Huang, Hao Ren, Wanfeng Shang*, Yajing Shen*, “An on-wall-rotating strategy for effective upstream motion of untethered millirobot: principle, design and demonstration”, IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2419-2428 (2023).
  • Tieshan Zhang, Hao Ren, Gen Li, Panbing Wang, Wanfeng Shang, Yajing Shen*. “High-Precise Metallic Helical Microstructure Fabrication by Rotational Nanorobotic Manipulation System With Tilted Mandrel Compensation”, IEEE/ASME Transactions on Mechatronics, vol. 29, no. 1, pp. 214-223 (2023).
  • Jiaqi Miao#, Tieshan Zhang#, Gen Li, Dong Guo, Siqi Sun, Rong Tan, Jiahai Shi, Yajing Shen*. “Flagellar/ciliary intrinsic driven mechanism inspired all-in-one tubular robotic actuator”, Engineering, 23: 170-180 (2023). 
  •  Siqi Sun, Jiaqi Miao,  Rong Tan,  Tieshan Zhang,  Gen Li,  Yajing Shen*. “Asymmetric Soft-Structure Functional Surface for Intelligent Liquids’ Distinction, Transportation, and Reaction Mixer”, Advanced Functional Materials, 33, 2209769 (2023).

2022

  • Xiong Yang, Rong Tan, Haojian Lu, Toshio Fukuda, Yajing Shen*. “Milli-scale cellular robots that can reconfigure morphologies and behaviors simultaneously”, Nature Communications, 13, 4156 (2022).
  • Jiaqi Miao, Siqi Sun, Tieshan Zhang, Gen Li, Hao Ren, Yajing Shen*. “Natural Cilia and Pine Needles Combinedly Inspired Asymmetric Pillar Actuators for All-Space Liquid Transport and Self-Regulated Robotic Locomotion”, ACS Applied Materials & Interfaces, 14, 44, 50296–50307 (2022).
  • Wanfeng Shang, Haojian Lu, Yuanyuan Yang, Yajing Shen*. “7-DoFs Rotation-Thrust Microrobotic Control for Low-Invasive Cell Pierce via Impedance Compensation”, IEEE/ASME Transactions on Mechatronics, Vol 27, No 6, 5095 – 5106 (2022).
  • Liu Yang, Tieshan Zhang, Rong Tan, Xiong Yang, Dong Guo, Yu Feng, Hao Ren, Yifeng Tang, Wanfeng Shang, Yajing Shen*. “Functionalized Spiral‐Rolling Millirobot for Upstream Swimming in Blood Vessel”, Advanced Science, 9, 2200342 (2022).
  • Xiong Yang, Rong Tan, Haojian Lu, Yajing Shen*. “Magnetic-Directed Manipulation and Assembly of Fragile Bioartificial Architectures in the Liquid–Liquid Interface”, IEEE/ASME Transactions on Mechatronics, Vol 20, No 5,  3590 – 3600 (2022).
  • Youcan Yan, Zhe Hu, Yajing Shen*, Jia Pan*. Surface Texture Recognition by Deep Learning‐Enhanced Tactile Sensing. Advanced Intelligent Systems, 4, 2100076 (2022).

2021

  • Panbing Wang, MAR Al Azad, Xiong Yang, Paolo R Martelli, Kam Yan Cheung, Jiahai Shi*, Yajing Shen*. “Self-adaptive and efficient propulsion of Ray sperms at different viscosities enabled by heterogeneous dual helixes”, Proceedings of the National Academy of Sciences, 118, e2024329118 (2021).
  • Youcan Yan, Zhe Hu, Zhengbao Yang, Wenzhen Yuan, Chaoyang Song, Jia Pan*, Yajing Shen*. “Soft magnetic skin for super-resolution tactile sensing with force self-decoupling”, Science Robotics, 6, eabc8801 (2021).
  • Shudong Wang, Xueyong Wei*, Haojian Lu, Ziming Ren, Zhuangde Jiang, Juan Ren, Zhan Yang, Lining Sun, Wanfeng Shang, Xinyu Wu, Yajing Shen*. “Robot-aided fN∙ m torque sensing within an ultrawide dynamic range”, Microsystems & Nanoengineering, 7, 1-11 (2021).
  • Tieshan Zhang, Liu Yang, Xiong Yang, Rong Tan, Haojian Lu*, Yajing Shen*. Millimeter‐Scale Soft Continuum Robots for Large‐Angle and High‐Precision Manipulation by Hybrid Actuation. Advanced Intelligent Systems, 3, 2000189 (2021).
  • Xiong Yang, Rong Tan, Haojian Lu, Yajing Shen*. Starfish inspired milli soft robot with omnidirectional adaptive locomotion ability. IEEE Robotics and Automation Letters, 6, 3325-3332 (2021).

2020

  • Xiong Yang, Wanfeng Shang, Haojian Lu, Yanting Liu, Liu Yang, Rong Tan, Xinyu Wu*, Yajing Shen*. “An agglutinate magnetic spray transforms inanimate objects into millirobots for biomedical applications”, Science Robotics, 5, eabc8191 (2020).
  • Dengfeng Li, Chao Liu, Yuanyuan Yang, Lidai Wang*, Yajing Shen*. Micro-rocket robot with all-optic actuating and tracking in blood. Light: Science & Applications, 9, 1-10 (2020).
  • Yuanyuan Yang, Yanting Liu, Yajing Shen*. Plasmonic‐Assisted Graphene Oxide Films with Enhanced Photothermal Actuation for Soft Robots. Advanced Functional Materials, 30, 1910172 (2020).
  • Yuanyuan Yang, Yanting Liu, Yajing Shen*. Plasmonic-Enhanced Graphene Oxide-Based Aquatic Robot for Target Cargo Delivery. ACS Applied Materials & Interfaces, 13, 1503-1510 (2020).

2019

  • Panbing Wang, Dengfeng Li, Shihui Shen, Yajing Shen*. Automatic microwaveguide coupling based on hybrid position and light intensity feedback. IEEE/ASME Transactions on Mechatronics, 24, 1166-1175 (2019).
  • Haojian Lu, Yuanyuan Yang, Xudong Lin, Peng Shi, Yajing Shen*. Low‐Invasive Cell Injection based on Rotational Microrobot. Advanced Biosystems, 3, 1800274 (2019).
  • Yang Liu, Cong Wu, Haojian Lu, Yuanyuan Yang, Wenjung Li, Yajing Shen*. Programmable higher-order biofabrication of self-locking microencapsulation. Biofabrication, 11, 035019 (2019).
  • Weili Ding*, Yanxin Zhang, Haojian Lu, Wenfeng Wan, Yajing Shen*. Automatic 3D reconstruction of SEM images based on Nano-robotic manipulation and epipolar plane images. Ultramicroscopy, 200, 149-159 (2019).
  • Yuanyuan Yang, Dengfeng Li, Yajing Shen*. Inchworm-inspired soft robot with light-actuated locomotion. IEEE Robotics and Automation Letters, 4, 1647-1652 (2019).
  • Haojian Lu, Yongbing Wen, Hao Zhang, Hui Xie*, Yajing Shen*. Automatic 3D reconstruction of SEM images based on Nano-robotic manipulation and epipolar plane images. Ultramicroscopy, 196, 83-87 (2019).

2018

  • Haojian Lu, Mei Zhang, Yuanyuan Yang, Qiang Huang, Toshio Fukuda, Zuankai Wang*, Yajing Shen*. A bioinspired multilegged soft millirobot that functions in both dry and wet conditions. Nature communications, 9, 1-7 (2018).
  • Haojian Lu, Wanfeng Shang, Hui Xie*, Yajing Shen*. Ultrahigh-precision rotational positioning under a microscope: Nanorobotic system, modeling, control, and applications. IEEE Transactions on Robotics, 34, 497-507 (2018).

2017

  • Panbing Wang, Haojian Lu, Shihui Shen, Wanfeng Shang, Lijun Zhang, Jianhua Wang, Yajing Shen*. Microrobotic manipulation at time-varying air–liquid interface for high-precise watch-hand alignment. IEEE/ASME Transactions on Mechatronics, 22, 2746-2756 (2017).
  • Wanfeng Shang, Dengfeng Li, Haojian Lu, Toshio Fukuda, Yajing Shen*. Less-invasive non-embedded cell cutting by nanomanipulation and vibrating nanoknife. Applied Physics Letters, 110, 043701 (2017).
  • Wanfeng Shang, Yanting Liu, Wenfeng Wan, Chengzhi Hu, Zeyang Liu, Chin To Wong, Toshio Fukuda, Yajing Shen*. Hybrid 3D printing and electrodeposition approach for controllable 3D alginate hydrogel formation. Biofabrication, 9, 025032 (2017).
  • Haojian Lu, Wanfeng Shang, Xueyong Wei, Zhan Yang, Toshio Fukuda, Yajing Shen*. Nanorobotic system iTRo for controllable 1D micro/nano material twisting test. Scientific Reports, 7, 1-11 (2017).
  • Wenfeng Wan, Haojian Lu, Shihui Shen, Yajing Shen*. Effect of alignment angle on the alignment accuracy of a miniature rotation robot for microscopy imaging. International Journal of Advanced Robotic Systems, 14, 1729881417703570 (2017).
  • Yang Liu, Cong Wu, Hok Sum Sam Lai, Yan Ting Liu, Wen Jung Li, Yajing Shen*. Three-dimensional calcium alginate hydrogel assembly via tiopc-based light-induced controllable electrodeposition. Micromachines, 8, 192 (2017).
  • Dengfeng Li, Lijun Yang, Wanfeng Shang, Haojian Lu, Wenfeng Wan, Yajing Shen*. In situ bending and recovery characterization of hollow glass nanoneedle based on nanorobotic manipulation. Journal of Micromechanics and Microengineering, 8, 192 (2017).
  • Yuanyuan Yang, Shihui Shen, Kating Lui, Kwanhoi Lee, Junduo Chen, Hao Ding, Linquan Liu, Haojian Lu, Lihong Duan, Chunbao Wang, Yajing Shen*. In situ bending and recovery characterization of hollow glass nanoneedle based on nanorobotic manipulation. International Journal of Advanced Robotic Systems, 14, 1729881417738739 (2017).
  • Xiong Yang, Haotian She, Haojian Lu, Toshio Fukuda, Yajing Shen*. In situ bending and recovery characterization of hollow glass nanoneedle based on nanorobotic manipulation. Applied Sciences, 7, 1182 (2017).

2016

  • Yajing Shen*, Wenfeng Wan, Haojian Lu, Toshio Fukuda, Wanfeng Shang. Automatic sample alignment under microscopy for 360 imaging based on the nanorobotic manipulation system. IEEE Transactions on Robotics, 33, 220-226 (2016).
  • Gaole Dai, Binjun Wang, Shang Xu, Yang Lu, Yajing Shen*. Side-to-Side cold welding for controllable nanogap formation from “Dumbbell” ultrathin gold nanorods. ACS Applied Materials & Interfaces, 8, 13506-13511 (2016).
  • Gaole Dai, Wenfeng Wan, Yuliang Zhao, Zixun Wang, Wenjun Li, Peng Shi, Yajing Shen*. Controllable 3D alginate hydrogel patterning via visible-light induced electrodeposition. Biofabrication, 8, 025004 (2016).
  • Wanfeng Shang, Haojian Lu, Wenfeng Wan, Toshio Fukuda, Yajing Shen*. Vision-based nano robotic system for high-throughput non-embedded cell cutting. Scientific Reports, 6, 1-14 (2016).
  • Wenfeng Wan, Haojian Lu, Valentina Zhukova, Mihail Ipatov, Arcady Zhukov, Yajing Shen*. Surface defect detection of magnetic microwires by miniature rotatable robot inside SEM. AIP Advances, 6, 095309 (2016)

Before 2015

  • Yajing Shen*, Masahiro Nakajima, Zhenhai Zhang, Toshio Fukuda. Dynamic force characterization microscopy based on integrated nanorobotic AFM and SEM system for detachment process study. IEEE/ASME Transactions on Mechatronics, 20, 3009-3017 (2015).
  • Wenfeng Wan, Gaole Dai, Lijun Zhang, Yajing Shen*. Paper-Based Electrodeposition Chip for 3D Alginate Hydrogel Formation. Micromachines, 6, 1546-1559 (2015).
  • Yajing Shen*, Wenfeng Wan, Lijun Zhang, Li Yong, Haojian Lu, Weili Ding*. Multidirectional image sensing for microscopy based on a rotatable robot. Sensors, 15, 31566-31580 (2015).
  • Yajing Shen*, Zhenhai Zhang, Toshio Fukuda. Bending spring rate investigation of nanopipette for cell injection. Nanotechnology, 26, 155702 (2015).
  • Yajing Shen*, Toshio Fukuda. State of the art: micro-nanorobotic manipulation in single cell analysis. Robotics and Biomimetics, 1, 1-13 (2014).
  • Jingjing Bao, Zhan Yang, Masahiro Nakajima, Yajing Shen, Masaru Takeuchi, Qiang Huang, Toshio Fukuda*. Self-actuating asymmetric platinum catalytic mobile nanorobot. IEEE Transactions on Robotics, 30, 33-39 (2014).
  • Yajing Shen*, Masahiro Nakajima, Zhan Yang, Hirotaka Tajima, Zoran Najdovski, Michio Homma, Toshio Fukuda. Single cell stiffness measurement at various humidity conditions by nanomanipulation of a nano-needle. Nanotechnology, 24, 145703 (2013).
  • Yajing Shen*, Mohd Ridzuan Ahmad, Masahiro Nakajima, Seiji Kojima, Michio Homma, Toshio Fukuda. Biodegradable porous sheet-like scaffolds for soft-tissue engineering using a combined particulate leaching of salt particles and magnetic sugar particles. IEEE Transactions on Nanobioscience, 10, 217-224 (2011).
  • Yajing Shen*, Masahiro Nakajima, Seiji Kojima, Michio Homma, Masaru Kojima, Toshio Fukuda. Single cell adhesion force measurement for cell viability identification using an AFM cantilever-based micro putter. Measurement Science and Technology, 22, 115802 (2011).
  • Yajing Shen*, Masahiro Nakajima, Mohd Ridzuan Ahmad, Seiji Kojima, Michio Homma, Toshio Fukuda. Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM. Ultramicroscopy, 111, 1176-1183 (2011).
  • Yajing Shen*, Masahiro Nakajima, Zhan Yang, Seiji Kojima, Michio Homma, Toshio Fukuda. Design and characterization of nanoknife with buffering beam for in situ single-cell cutting. Nanotechnology, 22, 305701 (2011).
  • Yajing Shen*, Masahiro Nakajima, Seiji Kojima, Michio Homma, Toshio Fukuda. Study of the time effect on the strength of cell–cell adhesion force by a novel nano-picker. Biochemical and Biophysical Research Communications, 409, 160-165 (2011).
  • Toshio Fukuda*, Masahiro Nakajima, Mohd Ridzuan Ahmad, Yajing Shen, Masaru Kojima. Micro-and nanomechatronics. IEEE Industrial Electronics Magazine, 4, 13-22 (2010).