1. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China
2. National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, P. R. China
3. Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON, Canada M4G1R8, Canada
4. Department of Electrical and Computer Engineering, McMaster University, Hamilton, ON, Canada L8S 4L8, Canada