1. Weichai Global Axis Technology Co., Ltd., Tokyo 107-0062, Japan
2. Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan
3. College of Mechanical Engineering, Saitama Institute of Technology, Saitama 369-0293, Japan
4. Key Laboratory of Mechanism Theory and Equipment Design of Ministry, Tianjin University, Tianjin 300072, China