1. Hamlyn Centre, Imperial College London, London, U.K.
2. School of Computing Science, University of Glasgow, G12 8RZ, Glasgow, U.K.
3. Brain & Behaviour Lab, Imperial College London, London, U.K.
4. College of Communication and Art Design, University of Shanghai for Science and Technology, Shanghai, China
5. Center for Intelligent Medical Electronics, School of Information Science and Technology, Fudan University, Shanghai, China
6. Institute of Medical Robotics and School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China