1. Department of Mechanical Engineering, Advanced Institute of Manufacturing with High Tech Innovations (AIM-HI), Center for Innovative Research on Aging Society (CIRAS), National Chung Cheng University, 168, University Road, Min Hsiung, Chiayi City 62102, Taiwan
2. Robotics & AI Team, Department of Computer, Electrical and Space Engineering, Luleå University of Technology, SE-97187 Luleå, Sweden
3. Department of Computer, Electrical and Space Engineering, Luleå University of Technology, SE-97187 Luleå, Sweden