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。