1. Institute of Robotics and Intelligent Equipment, School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
2. State Key Laboratory for Reliability and Intelligence of Electrical Equipment, Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection Technology, Hebei Key Laboratory of Smart Sensing and Human-Robot Interaction, School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
3. School of Mechanical Engineering, University of Jinan, Jinan 250022, China