1. School of Biomedical Engineering, Division of Life Sciences and Medicine, University of Science and Technology of China, Hefei, Anhui 230026, P. R. China
2. Suzhou Institute for Advanced Research, University of Science and Technology of China, Suzhou, Jiangsu 215123, P. R. China
3. TacSense Technology (Shenzhen) Co., Ltd., Shenzhen, Guangdong 518000, P. R. China
4. Bionic Sensing and Intelligence Center (BSIC), Institute of Biomedical and Health Engineering, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, P. R. China
5. Shenzhen Shaanxi Coal High Technology Research Institute Co., Ltd., Shenzhen, Guangdong 518000, China