1. Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Qinhuangdao, Hebei, People’s Republic of China
2. Key Laboratory of Advanced Forging Technology and Science Ministry of Education, Yanshan University, Qinhuangdao, Hebei, People’s Republic of China
3. Department of Orthopedics, First Hospital of Qinhuangdao City, Hebei, People’s Republic of China