1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, China
2. Henan Provincial Key Laboratory of Robotics and Intelligent Systems, Luoyang, China
3. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang, China
4. The First Affiliated Hospital of Henan University of Science and Technology, Luoyang, China