1. School of Mechanical Engineering, Hubei University of Arts and Sciences, Xiangyang, China
2. Xiangyang Key Laboratory of Rehabilitation Medicine and Rehabilitation Engineering Technology, Hubei University of Arts and Science, Xiangyang, China
3. School of Mechatronic Engineering, Changchun University of Technology, Changchun, China
4. XY-HUST Advanced Manufacturing Engineering Research Institute, Xiangyang, China