1. State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China
2. Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province Zhejiang University Hangzhou 310027 China
3. Epstein Department of Industrial and Systems Engineering Viterbi School of Engineering University of Southern California Los Angeles CA 90089 USA
4. Department of Aerospace and Mechanical Engineering School for Engineering of Matter Transport and Energy Arizona State University Tempe AZ 85287 USA
5. Department of Biomedical Engineering Viterbi School of Engineering University of Southern California Los Angeles CA 90089 USA