• Yanting Liu, Yuanyuan Yang & Yajing Shen*. (2019). "Tubular Microcapsule with Polysaccharide Membrane based on Co-axial Microfluidic Chip". ACS Biomaterials Science & Engineering.

  • Yang Liu, Gen Li, Haojian Lu, Yuanyuan Yang, Zeyang Liu, Wanfeng Shang & Yajing Shen*. (2019). Magnetically Actuated Heterogeneous Microcapsule-robot for Construction of 3D Bioartificial Architectures. ACS applied materials & interfaces.

  • Panbing Wang, Dengfeng Li, Shihui Shen, and Yajing Shen*. "Auto Microwaveguide Coupling Based on Hybrid Position and Light Intensity Feedback".IEEE/ASME Transactions on Mechatronics, 24(3), pp.1166-1175, 2019.

  • Panbing Wang, Denfeng Li, Haojian Lu, Yuanyuan Yang, Shihui Shen and Yajing Shen*. "Efficient Micro  Waveguide Coupling based on Microrobotic Positioning". IEEE International Conference on Robotics and Automation (ICRA) 2019. pp. 6185-6190.

  • ​Haojian Lu, Yanting Liu, Yuanyuan Yang, Xiong Yang, Rong Tanand Yajing Shen*. "Self-Assembly Magnetic Chain Unit for Bulk Biomaterial Actuation". IEEE Robotics and Automation Letters, 2(4), pp. 262-268, 2019.

  • Yang Liu, Cong Wu, Haojian Lu, Yuanyuan Yang, Wenjung Li and Yajing Shen*, "Programmable higher-order biofabrication of self-locking microencapsulation", Biofabrication, 11, 035019, 2019. 

  • ​Yuanyuan Yang, Dengfeng Li, and Yajing Shen*. "Inchworm-inspired Soft Robot with Light Actuated Locomotion." IEEE Robotics and Automation Letters ​,  2(4), pp. 1647-1652, 2019.

  • Haojian Lu, Yuanyuan Yang, Xudong Lin, Peng Shi and Yajing Shen*. "Low-invasive Cell Injection based on Rotational Microrobot", Advanced Biosystems, 1800274, 2019. [Cover]

  • Yongbing Wen, Haojian Lu, Yajing Shen* and Hui Xie*. "Nanorobotic Manipulation System for 360° Characterization Atomic Force Microscopy", IEEE Transactions on Industrial Electronics, 2019.


  • Yajing Shen* and Toshio Fukuda, "State of the art: micro-nanorobotic manipulation in single cell analysis", Robotics and Biomimetics, 1 (21), 2014. ​
  •  Jingjing ​Bao, Zhan Yang*, Masahiro Nakajima, Yajing Shen, Masaru Takeuchi, Qiang Huang and Toshio Fukuda, "Self-Actuating Asymmetric Platinum Catalytic Mobile Nanorobot", IEEE Transactions on Robotics, 30 (1), 33 - 39, 2014.

Before 2013


  • Yajing ​Shen*, Masahiro Nakajima, Zhan Yang, Hirotaka Tajima, Zoran Najdovski, Michio Homma and Toshio Fukuda, "Single cell stiffness measurement at various humidity conditions by nanomanipulation of a nano-needle", Nanotechnology, 24, 145703, 2013.
  • Chengzhi ​Hu*, Tercero Carlos, Ikeda Seiichi, Nakajima Masahiro, Tajima Hirotaka, Yajing Shen, Toshio Fukuda and Fumihito Arai, "Biodegradable porous sheet-like scaffolds for soft-tissue engineering using a combined particulate leaching of salt particles and magnetic sugar particles", Journal of Bioscience and Bioengineering, 166 (1), pp. 126 - 131, 2013.
  • ​Haojian Lu, Mei Zhang, Yuanyuan Yang, Qiang Huang, Toshio Fukuda, Zuankai Wang* and Yajing Shen*. "A bioinspired multilegged soft millirobot that functions in both dry and wet conditions", Nature Communications, 9(3944), 2018.​                  (Top 50: Physics 2018 most read in Nature Communications)                                                                                                                   (Social media:                                                                                                                                                                                                   1. Associated Press, "Tiny caterpillar-like robot to transport drugs around body"                                                                         2. The Times, "Robot millipede runs through your veins on magnetic legs"                                                                                         3. Asian Scientist, "A Robotic Millipede That Delivers Drugs"                                                                                                                   4. The Hindu, "Robot caterpillar can deliver drugs inside human body"                                                                                               5. New York Post, "Caterpillar’ robot could be used to deliver drugs inside humans"                                                                           6. Business Standard, "Robot caterpillar can deliver drugs inside human body​"                                                                                  7.  Bionity, "Tiny soft robot with multilegs paves way for drugs delivery in human body"                                                                   8. Yahoo! News, "Tiny robot caterpillar designed to walk through body delivering drugs"                                                                 ​ 9. The medical news​, "New robot could improve drug delivery in the body"                                                                                       10. Science Daily​, "Tiny soft robot with multilegs paves way for drugs delivery in human body"                                                       11. ENC, "Caterpillar-Like Robot Paves Way for Drug Delivery in Human Body"                                                                       12.TVB, "藥丸機械人"   MORE)
  • Haojian Lu, Yongbing Wen, Hao Zhang, Hui Xie and Yajing Shen*, "360° multiparametric imaging atomic force microscopy: a method for three-dimensional nanomechanical mapping",Ultramicroscopy, 196, pp. 83-87, 2019.
  • Wenfeng Wan, Yang Liu, Haojian Lu and Yajing Shen*, "Investigation of the Non-axisymmetric Bending Property of Pollen Tubes via a Rotary Nanorobotic System", IEEE Transactions on Nanotechnology, 2018.
  • Yanting Liu, Yanting Liu,Lijun Yang, Yajing Shen*, “Hydrothermal synthesis of gold nanoplates and their structure-dependent LSPR properties”, Journal of Materials Research, 33(18), pp. 2671-2679, 2018. [Front Cover]
  • ​Yuanyuan Yang, Mei Zhang, Dengfeng Li, Yajing Shen*, "Graphene-Based Light-Driven Soft Robot with Snake-Inspired Concertina and Serpentine Locomotion", Advanced Materials Technologies. 2018.
  • Dengfeng Li, Yanting Liu, Yuanyuan Yang, Yajing Shen*."A fast and powerful swimming microrobot with a serrated tail enhanced propulsion interface", Nanoscale, 10, pp. 19673-19677, 2018. [Cover]
  • Haojian Lu, Wanfeng Shang, Hui Xie, Yajing Shen*, "Ultrahigh precise rotational positioning under microscope:
    nanorobotic system, modeling, control and applications", 
    IEEE Transactions on Robotics, 34(2), pp. 497-507, 2018.
  • Haojian Lu, Yanting Liu, Yuanyuan Yang, Panbing Wang, Yajing Shen*,"Specimen's plane misaligned installation solution based on charge fluctuation inside SEM", Applied Physics Letters, 112 (14), 2018.

  • Haojian Lu, Panbing Wang, Rong Tan, Xiong Yang, Yajing Shen*, "Nanorobotic System for Precise Three-Dimensional Manufacture of Helical Microstructures",IEEE Robotics and Automation Letters, 4(3), pp. 2846-2853, 2018.

  • Panbing Wang, Shihui Shen, Haojian Lu, Yajing Shen*, "Precise Watch-Hand Alignment Under Disturbance Condition by Microrobotic System", IEEE Transactions on Automation Science and Engineering2018.

  • ​Yanting Liu, Yang Liu and Yajing Shen*. "Nano-assembly and welding of gold nanorods based on DNA origami and plasmon-induced laser irradiation", International Journal of Intelligent Robotics and Applications, 2(4), pp. 445-453, 2018.

  • ​Shudong Wang, Xueyong Wei, Yulong Zhao, Zhuangde Jiang and Yajing Shen. "A MEMS resonant accelerometer for low-frequency vibration detection." Sensors and Actuators A: Physical 283, pp. 151-158, 2018.


  • Yajing Shen*, Masahiro Nakajima, Seiji Kojima, Michio Homma, Masaru Kojima, and Toshio Fukuda, “Single cell adhesion force measurement for cell viability identification by using AFM cantilever based micro putter”, Measurement Science and Technology, vol. 22, no. 11, pp. 115802, 2011.
  • Yajing Shen*, Masahiro Nakajima, Zhan Yang, Seiji Kojima, Michio Homma and Toshio Fukuda, “Design and characterization of nanoknife with buffering beam for in situ single cell cutting”, Nanotechnology, vol. 22, pp. 305701, 2011. 
  • Yajing Shen*, Mohd Ridzuan Ahmad, Masahiro Nakajima, Seiji Kojima, Michio Homma and Toshio Fukuda. "Evaluation of the single yeast cell adhesion to ITO substrates with various surface energies via ESEM Nanorobotic Manipulation System", IEEE Transaction on Nanobioscience, 10(4): 217-224, 2011. 
  • Yajing Shen*, Masahiro Nakajima, Seiji Kojima, Michio Homma, and Toshio Fukuda, "Study of the time effect on the strength of cell-cell adhesion force by a novel nano-picker", Biochemical and Biophysical Research Communication, 409(2): 160-165, 2011. 
  • Yajing Shen*, Masahiro Nakajima, Mohd Ridzuan Ahmad, Seiji Kojima, Michio Homma, and Toshio Fukuda,  "Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM", Ultramicroscopy, 111(8): 1176-1183, 2011.
  • Toshio Fukuda, Masahiro Nakajima, Mohd Ridzuan Ahmad, Yajing Shen and Masaru Kojima. “Micro- and Nanomechatronics”. IEEE Industrial Electronics Magazine, 4(4): 13-22, 2010.
  • Wanfeng Shang, Shengdun Zhao*, and Yajing Shen, “A flexible tolerance genetic algorithm for optimal problems with nonlinear equality constraints”, Advanced Engineering Informatics, vol. 23, no. 3, pp. 253-264, 2009.
  • Wanfeng Shang, Shengdun Zhao, Yajing Shen and Ziming Qi, “A sliding mode flux-linkage controller with integral compensation for switched reluctance motor”,IEEE Transactions on Magnetics, vol. 45, no. 9, pp. 3322-3328, 2009. 


  • Panbing Wang, Haojian Lu, Shihui Shen, Wanfeng Shang, Lijun Zhang, Jianhua Wang, and Yajing Shen*, "Micro-robotic Manipulation at Time-varying Air-liquid Interface for High-precise Watch-hand Alignment", IEEE/ASME Transactions on Mechatronics, 22 (6), 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 (3), 2017.
  • Haojian Lu, Wanfeng Shang, Xueyong Wei, Zhan Yang, Toshio Fukuda, and Yajing Shen*, "Nanorobotic System iTRo for Controllable 1D Micro/nano Material Twisting Test", Scientific Reports, 7 (3077), 2017.
  • Wanfeng Shang, Yanting Liu, Wenfeng Wan, Chengzhi Hu, Zeyang Liu, Chin To Wong, Toshio Fukuda, and Yajing Shen*, "Hybrid 3D printing and electrodeposition approach for controllable 3D alginate hydrogel formation", Biofabrication, 9 (2), 2017.
  • Wanfeng Shang, Dengfeng Li, Haojian Lu, Toshio Fukuda, and Yajing Shen*, "Less-invasive Non-embedded Cell Cutting by Nanomanipulation and Vibrating Nanoknife", Applied Physics Letters, 110 (043701), 2017.
  • Yajing Shen*, Wenfeng Wan, Haojian Lu, Toshio Fukuda, and Wanfeng Shang, "Automatic Sample Alignment under Microscopy for 360o Imaging based on Nanorobotic Manipulation System," IEEE Transactions on Robotics, 33(1), pp. 220-226, 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, 27(9), 095011, 2018.


  • 用於微納尺度材料的原位扭矩測試裝置和觀察裝置, CN 201610079194.8
  • 一種高頻疲勞測試裝置和微觀形貌觀察裝置,CN 201610079340.7


Nano-robotic Manipulation and Bio-assembly Laboratory​​



Book & Book Chapter

Selected Publications (Full list is available at GoogleScholar)

  • Yajing Shen*, Wenfeng Wan, Yong Li, Haojian Lu and Weili Ding*, "Multidirectional Image Sensing for Microscopy Based on a Rotatable Robot", Sensors, 15, 2015. 
  • Wenfeng Wan, Gaole Dai, Lijun Zhang and Yajing Shen*, "Paper-Based Electrodeposition Chip for 3D Alginate Hydrogel Formation", Micromachines, 2015. 
  • Yajing Shen*, Zhenhai Zhang, and Toshio Fukuda, "Bending spring rate investigation of nanopipette for cell injection", Nanotechnology, 26 (15), p155702, 2015. 
  • Yajing Shen*, Masahiro Nakajima , Zhenhai Zhang and Toshio Fukuda , "Dynamic Force Characterization Microscopy Based on Integrated Nanorobotic AFM and SEM System for Detachment Process Study", IEEE/ASME Transactions on Mechatronics, 20 (6), pp. 3009 - 3017, 2015. 
  • Yajing Shen*, "Effect of the Tip Size on AFM Cantilever Based Force Sensor",Journal of Sensors, 926594, pp. 1 - 8, 2015. 
  • Zhenhai Zhang, Zhiguo Shi, Zhan Yang, Zhihong Xie, Donghong Zhang, De Cai, Kejie Li, and Yajing Shen*, "Design, Simulation and Fabrication of Triaxial MEMS High Shock Accelerometer", Journal of Nanoscience and Nanotechnology, 15 (4), pp. 2952 - 2957, 2015.

  • Wenfeng Wan, Haojian Lu, Valentina Zhukova, Mihail Ipatov, Arcady Zhukov, and Yajing Shen*, "Surface defect detection of magnetic microwires by miniature rotatable robot inside SEM", AIP Advances, 6 (095309), 2016.

  • Gaole ​​​​Dai, Binjun Wang, Shang Xu, Yang Lu* and Yajing Shen*, "Side-to-side Cold Welding for Controllable Nanogap Formation from 'Dumbbell' Ultrathin Gold Nanorods", ACS Applied Materials & Interfaces, 8 (21), pp. 13506–13511, 2016.

  • Gaole Dai, Wenfeng Wan, Yuliang Zhao, Zixun Wang, Wenjun Li, Peng Shi, and Yajing Shen*, "Controllable 3D alginate hydrogel patterning via visible-light induced electrodeposition", Biofabrication, 8(2), 025004, 2016. 

  • Wanfeng Shang, Haojian Lu, Wenfeng Wan, Toshio Fukuda and Yajing Shen*, "Vision-based Nano Robotic System for High-throughput Non-embedded Cell Cutting", Scientific Reports, 6 (22534), 2016.