1. Third Orthopedics Department, Baoding No. 1 Central Hospital, Hebei 071000, China
2. School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Hebei 050043, China
3. Specialized Robot Engineering and Technological Centre of Hainan Province, Hainan Vocational University of Science and Technology, Haikou 571126, China
4. Beijing Key Lab of Cryo-Biomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing 100190, P. R. China
5. School of Textile Science and Engineering, Xi’an Polytechnic University, Xi’an, Shaanxi, 710048, China