1. School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China
2. Anhui New R&D Institutions of Human-machine Interaction and Collaboration, Wuhu 241000, China
3. Anhui Key Laboratory of Advance Numerical Control and Servo Technology, Wuhu 241000, China
4. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, Shanxi, China