1. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong
2. Department of Mechanical Engineering, University College London (UCL), London, U.K
3. Department of Surgical Sciences, University of Turin, Turin, Italy
4. The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
5. School of Engineering and Materials Science, Queen Mary University of London, London, U.K