1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University 1 , Hangzhou 310027, People’s Republic of China
2. Department of Engineering Mechanics, Zhejiang University 2 , Hangzhou 310027, People’s Republic of China
3. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University 3 , Hangzhou 310027, People’s Republic of China
4. Intelligent Product Center, Haitian Smart Solutions Company 4 , 32 Jiangnan Middle Road, Ningbo 315801, People’s Republic of China