Design, fabrication and kinematic modeling of a 3D-motion soft robotic arm. - Zheyuan Gong; Zhexin Xie; Xingbang Yang; Tianmiao Wang; Li Wen (ROBIO, 2016)

A Variable Degree-of-Freedom and Self-Sensing Soft Bending Actuator Based on Conductive Liquid Metal and Thermoplastic Polymer Composites. - Yufei Hao; Zemin Liu; Zhexin Xie; Xi Fang; Tianmiao Wang; Li Wen (IROS, 2018)

A Soft Actuator with Tunable Mechanical Configurations for Object Grasping Based on Sensory Feedback. - Xi Fang; Zemin Liu; Yufei Hao; Hui Yang; Jiaqi Liu; Zhexin Xie; Li Wen (RoboSoft, 2019)

A 1 mm-Thick Miniatured Mobile Soft Robot With Mechanosensation and Multimodal Locomotion. - Zemin Liu; Bohan Chen; Shuzhang Liang; Yingchun Guan; Li Wen; Jiaqi Liu; He Wang; Xiao Yu; Kang Yang; Wenbo Liu; Shilin Nie; Wenguang Sun; et al. (IEEE Robotics Autom. Lett., 2020)

Soft Origami Gripper with Variable Effective Length. - Bohan Chen; Zhuyin Shao; Zhexin Xie; Jiaqi Liu; Fei Pan; Liwen He; Li Zhang; Yanming Zhang; Xuechen Ling; Fujun Peng; Weidong Yun; Li Wen (Adv. Intell. Syst., 2021)

A soft manipulator for efficient delicate grasping in shallow water: Modeling, control, and real-world experiments. - Zheyuan Gong; Xi Fang; Xingyu Chen; Jiahui Cheng; Zhexin Xie; Jiaqi Liu; Bohan Chen; Hui Yang; Shihan Kong; Yufei Hao; Tianmiao Wang; Junzhi Yu; et al. (Int. J. Robotics Res., 2021)

A Tapered Soft Robotic Oropharyngeal Swab for Throat Testing: A New Way to Collect Sputa Samples. - Zhexin Xie; Bohan Chen; Jiaqi Liu; Feiyang Yuan; Zhuyin Shao; Hui Yang; August G. Domel; Jingfeng Zhang; Li Wen (IEEE Robotics Autom. Mag., 2021)

Design and Experimental Characterization of a Push-Pull Flexible Rod-Driven Soft-Bodied Robot. - Peiyi Wang; Zhiqiang Tang; Wenci Xin; Zhexin Xie; Sheng Guo 001; Cecilia Laschi (IEEE Robotics Autom. Lett., 2022)

Design of Airborne Large Aperture Infrared Optical System Based on Monocentric Lens. - Jiyan Zhang; Teng Qin; Zhexin Xie; Liting Sun; Zhengyu Lin; Tianhao Cao; Chentao Zhang (Sensors, 2022)

Meta-Learning-Based Optimal Control for Soft Robotic Manipulators to Interact with Unknown Environments. - Zhiqiang Tang; Peiyi Wang; Wenci Xin; Zhexin Xie; Longxin Kan; Muralidharan Mohanakrishnan; Cecilia Laschi (ICRA, 2023)

Electrical Impedance Tomographic Shape Sensing for Soft Robots. - Wenci Xin; Fangmeng Zhu; Peiyi Wang; Zhexin Xie; Zhiqiang Tang; Cecilia Laschi (IEEE Robotics Autom. Lett., 2023)

Soft Robotic Arm With Extensible Stiffening Layer. - Zhexin Xie; Muralidharan Mohanakrishnan; Peiyi Wang; Jiaqi Liu; Wenci Xin; Zhiqiang Tang; Li Wen; Cecilia Laschi (IEEE Robotics Autom. Lett., 2023)

Octopus-inspired sensorized soft arm for environmental interaction. - Zhexin Xie; Feiyang Yuan; Jiaqi Liu; Lufeng Tian; Bohan Chen; Zhongqiang Fu; Sizhe Mao; Tongtong Jin; Yun Wang; Xia He; Gang Wang 046; Yanru Mo; et al. (Sci. Robotics, 2023)

A Wearable Glove with Electrothermal-Controlled Ionogels for Adhesive Gripping. - Shiqiang Wang; Cong Zhao; Shiqing Liu; Yuntong Li; Zhexin Xie; Lie Chen; Xiao Yu; Feiyang Yuan; Qiyi Zhang; Mingjie Liu; Wen Li (Adv. Intell. Syst., 2024)

Octopus-Inspired Hydrostatic Artificial Muscle with Variable Stiffness. - Keyi Li; Chengxi Bai; Jie Wang 151; Muralidharan Mohanakrishnan; Zhexin Xie; Cecilia Laschi (RoboSoft, 2025)

Evaluation of Internal Curvature on Suction Cup Performance. - Wenci Xin; Mingrui Nie; Zhexin Xie; Cecilia Laschi (RoboSoft, 2025)