1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350, P. R. China
2. Department of Stomatology, Tianjin Hospital, Tianjin 30000, P. R. China
3. Stomatology Hospital of Tianjin Medical University, Tianjin 30000, P. R. China
4. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300350, P. R. China
5. State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300401, P. R. China