1. National University of Singapore, Department of Biomedical Engineering, Singapore 117575, SingaporebBeijing Institute of Technology, Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
2. Beijing Institute of Technology, Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, ChinacBeijing Aerospace Measurement and Control Technology Co., Ltd., Beijing 100041, China
3. National University of Singapore, Department of Biomedical Engineering, Singapore 117575, SingaporedZhejiang University, Department of Physical Education and Sports Science, Hangzhou 310028, China
4. Beijing Institute of Technology, Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
5. Xuzhou Institute of Technology, Department of Information and Electrical Engineering, Jiangsu 221000, China
6. National University of Singapore, Department of Biomedical Engineering, Singapore 117575, Singapore