1. Chen Yangzhi, Chen Heen, Wang Peng, et al. A novel in-tube robot driving device. In: Proceedings of the 6th International Conference on Frontiers of Design and Manufacturing. June 21–23, 2004, Xi’an China. Science Press and Science Press USA Inc, 2004, 381–382 (in Chinese)
2. Chen Heen. The study on the drive method of an in-tube micro robot for medicine. Dissertation of the Master of Science Degree. Guangzhou: School of Mechanical Engineering of the South China University of Technology, 2004
3. Huang Ping, Chen Yangzhi, Zhu Wenjian, et al. Theoretical and experimental study on the elastic engagement and friction transmission. Mechanical Transmission, 1999, 23(2): 7–10 (in Chinese)
4. Liu Hongwen. Advanced Material Mechanics. Beijing: Higher Education Press, 1985 (in Chinese)
5. Wang Chenghe. Plastic Tribology. Beijing: Mechanical Industry Press, 1994 (in Chinese)