1. The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China
2. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, Zhejiang University, Hangzhou, China
3. Institute of Mechanical Engineering and Automation, College of Mechanical Engineering, Zhejiang University, Hangzhou, China
4. Department of Mechanical Engineering, Aston University, Birmingham, UK
5. School of Mechanical and Automotive Engineering, Kingston University, London, UK