1. School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China
2. Shanghai Jiaotong University, 9th hospital, Shanghai 200011, China
3. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100811, China
4. School of Mechatronics and Automation, Shanghai University, Shanghai 200240, China
5. College of Engineering, The University of Saskatchewan, Saskatoon, Saskatchewan S7N 5A9, Canada