1. School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China
2. School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China
3. Department of Neurology, The People's Hospital of Liaoning Province, Shenyang 110016, China
4. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China