1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
2. Centre for Precision Manufacturing, Department of Design Manufacturing & Engineering Management (DMEM), University of Strathclyde, Glasgow G1 1XJ, UK
3. Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham NG8 1BB, UK
4. School of Engineering, College of Science, University of Lincoln, Lincoln LN6 7TS, UK