1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2. National Research Center for Rehabilitation Technical Aids, Beijing 100176, China
3. Zhiyuan Research Institute, Hangzhou 310024, China
4. Department of Mechanical Engineering, University of Bath, Bath BA2 7AY, UK
5. Department of Electrical Engineering, University of South Carolina, Columbia, SC 29208, USA