1. Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University, Changzhou campus Changzhou Jiangsu 213022 China
2. School of Mechanical Engineering Xi'an Jiaotong University Xi'an Shaanxi 710049 China
3. Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen 518055 China
4. College of Engineering Swansea University Swansea SA1 8EN UK