1. Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 285-0016, Japan
2. Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, 221 Longwood Avenue, Boston, MA 02115, USA
3. Department of Bioengineering, National University of Singapore, Singapore 117575
4. Driftmier Engineering Center, College of Engineering, The University of Georgia, Athens, GA 30602, USA
5. Department of Mechanical Engineering, Imperial College London, London SW7 2AZ, UK
6. Advanced Therapeutic and Rehabilitation Engineering Laboratory, Faculty of Engineering, The University of Tokyo, Suite No. 83A3, Building No. 2, Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
7. Advanced Material Institute, Graduate School at Shenzhen, Tsinghua University, Shenzhen, Guangdong 518055, China