1. Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST), Daegu 42988, South Korea.
2. DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, South Korea.
3. Institute of Robotic and Intelligent System (IRIS), ETH, Zurich 8092, Switzerland.
4. Department of Brain and Cognitive Sciences, DGIST, Daegu 42988, South Korea.
5. Postech-Catholic Biomedical Engineering Institute, College of Medicine, The Catholic University of Korea, Seoul, South Korea.
6. Department of Otolaryngology-Head and Neck Surgery, Seoul St. Mary’s Hospital, The Catholic University of Korea, Seoul 06591, South Korea.