Gorini, S, Quirini, M, Menciassi, A, Permorio, G, Stefanini, C, Dario, P——论文作者; A Novel SMA-based Actuator for a Legged Endoscopic Capsule——论文题名;First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa, Italy——会议名称、地址;IEEE, Piscataway, USA, ——会议论文集的出版信息;443-449——起止页码。