1.Hailong Yu, Jun Jiang, XieL*, Lin Liu, Yunyong Shi, Ping Cai. Design and static calibration of a six-dimensional force/torque sensor for minimally invasive surgery.MMIT Minimally Invasive Therapy and Allied Technologies（2013; Early Online, 1–8）

2.Jun Jiang, XieL*, Hailong Yu, Wenwei Yu, Bo wu. Development of a six-dimensional sensor for minimally invisive robotic surgery. Journal of Mechanics in Medicine and Biology，14（5），1450074-1～1450074-18，2014.

3.Hailong Yu,XieL*, ChaoLv, Wei Shao, Yuan Wang, Jinwu Wang and Wenwei Yu. A systemforupperlimbrehabilitation and motorfunction evaluation. Journal of Mechanics in Medicine and Biology ( August 2014)

4.Chaozheng Zhou,XieL*, XianglongShen, MaishengLuo, Zhaoli Wu, LixuGu. Cardiovascular-interventional-surgery virtual training platform and its preliminary evaluation. The International Journal of Medical Robotics and Computer Assisted Surgery. （Accepted 2014).