2016-2017 参与 日本文部科学省革新的创新计划(COI/Center of Innovation Stream)京都大学「活力ある生涯のためのLast5Xイノベーション」平台下智能步行助力车研究,

2017-2018 参与 日本爱知县「知の拠点あいち」重点研究项目「歩行アシストスーツ（步行动力服）」研究,

2017-2021 参与 日本文部科学省革新的创新计划(COI/Center of Innovation Stream)名古屋大学「人がつながる “移動”イノベーション」平台下步行辅助机器人研究,

2019-2021 参与 日本医疗研究开发机构( AMED/Japan Agency for Medical Research and development) 使用护理机器人时步行稳定性及跌倒风险评估研究,

Wan X, Ma J, Zhang Y, et al. A Power-Assisted Cart with the Optimal Assistance Ratio and Disturbance Observer-Based Methods for Walking Assistance Applications[J]. Applied Sciences, 2021, 11(3): 1079. (SCI).

Wan X, Yamada Y. Changes in the Determinism of the Gait Dynamics with the Intervention of a Robotic Walker[J]. Applied Sciences, 2020, 10(14): 4939. (SCI).

Wan X, Liu Y, Akiyama Y, et al. Monitoring contact behavior during assisted walking with a lower limb exoskeleton[J]. IEEE transactions on neural systems and rehabilitation engineering, 2020, 28(4): 869-877. (SCI).

Urakubo T, Kitagawa E, Wan X, et al. Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification[J]. Advanced Robotics, 2018, 32(11): 623-634. (SCI).

Wan X, Urakubo T, Tada Y. Dynamic advantages of singular configurations in moving heavy object by a two-link mechanism[J]. Multibody System Dynamics, 2017, 41(2): 149-172. (SCI).