1. State Key Laboratory of Robotics, Shenyang Institute of Automation, and the Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, China
2. Department of Electrical and Computer Engineering, Swanson School of Engineering, University of Pittsburgh, Pittsburgh, PA, USA
3. Faculty of Information Technology, Beijing University of Technology (BJUT), Beijing, China
4. Shenyang Institute of Automation, State Key Laboratory of Robotics, Chinese Academy of Sciences (CAS), Shenyang, China
5. Rehabilitation Center for the Disabled, Shenyang, China