1. Center for Biomedical Engineering, School of Information Science and Technology, Fudan University, Shanghai 200433, P. R. China
2. Department of Rehabilitation, Changhai Hospital, Naval Medical University, Shanghai 200433, P. R. China
3. Shanghai ZD Medical Technology Company, Ltd., Shanghai 200433, P. R. China
4. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200433, P. R. China