1. Department of Mechanical Engineering, Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China.
2. Department of Mechanical Engineering, Tianjin University, Tianjin, China.
3. The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
4. Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa, Italy.
5. Department of Engineering, Centre for Robotics Research, King's College London, London, United Kingdom.