1. Department of Mechanical Engineering, City University of Hong Kong, Hong Kong SAR 999077, P. R. China.
2. Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian 116024, P. R. China.
3. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR 999077, P. R. China.
4. Department of Biomedical Sciences, City University of Hong Kong, Hong Kong SAR 999077, P. R. China.
5. Center for Nature-Inspired Engineering, City University of Hong Kong, Hong Kong SAR 999077, P. R. China.