1. Robotic Institute, Beihang University, Xueyuan Road Beijing 100191, P. R. China
2. Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age and Disability & Key Laboratory of Rehabilitation, Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Ronghua Road, Beijing 100176, P. R. China
3. Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, School of Biological Science and Medical Engineering, Beihang University, Xueyuan Road, Beijing 100191, P. R. China