1. Northwestern Polytechnical University, Key Laboratory of Contemporary Design & Integrated Manufacturing Technology of Ministry of Education, Xi’an 710072, China
2. Virginia Tech, Virginia Tech-Wake Forest University School of Biomedical Engineering and Sciences, Blacksburg, Virginia 24061, United States
3. Virginia Tech, Department of Mechanical Engineering, Blacksburg, Virginia 24061, United States
4. Rensselaer Polytechnic Institute, Department of Biomedical Engineering, Troy, New York 12180, United States