1. School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
2. Key Laboratory of Precision Actuation and Transmission, Fujian Province University, Xiamen 361024, China
3. Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA
4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China