1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
2. Soft Robotics Research Center, Shenzhen Institute of Advanced Technology, Shenzhen, China
3. Department of Automation, Shanghai Jiao Tong University, Shanghai, China
4. Research Center for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China