1. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
2. Department of Mechanical Engineering, McGill University, Montreal, QC H3A 0C3, Canada
3. Shenzhen Mindray Bio-Medical Electronics Co., Ltd., Shenzhen, Guangdong 518058, China
4. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an, Shaanxi 710049, China
5. School of Advanced Technology, Xi’an Jiaotong-Liverpool University, Suzhou, Jiangsu 215123, China
6. Institute of Biomedical Engineering, University of Toronto, Toronto, ON M5S 3G9, Canada