1. School of Mechanical Engineering and Automation, Beihang University, Beijing, China
2. School of Mechanical Engineering and Automation and the Robotics Institute, Beihang University, Beijing, China
3. College of Automation and the College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China
4. Beijing Xianwei Medical Technology Company Ltd., Beijing, China
5. School of Mechanical and Materials Engineering, North China University of Technology, Beijing, China