1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
2. Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA
3. Advanced Manufacturing Technology Research Group, Faculty of Engineering, University of Nottingham, Nottingham, U.K.
4. Institute for Robotics, Southern University of Science and Technology, Shenzhen, China