1. Department of Mechanical and Materials Engineering, Faculty of Engineering, Western University, London, Ontario, Canada N6A 3K7
2. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China
3. Xerox Research Centre of Canada, 2660 Speakman Dr, Mississauga, Ontario, Canada L5K 2L1