1. School of Mechanical Engineering, Changchun Guanghua University, Changchun 130033, China
2. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China
3. FAW-Volkswagen Automobile Co., Ltd., Changchun 130011, China
4. Institute of Biomedical Engineering, Department of Engineering Science, University of Oxford, Oxford OX3 7DQ, UK