1. Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, School of Biological Science and Medical Engineering, Beihang University, Beijing 100191, People’s Republic of China
2. School of Automation Hangzhou Dianzi University, Hangzhou 310018, People’s Republic of China
3. Beijing Advanced Innovation Centre for Biomedical Engineering, Beihang University, Beijing 100191, People’s Republic of China
4. National Research Center for Rehabilitation Technical Aids, Beijing 100176, People’s Republic of China