1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China;
2. Georgia W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405 e-mail:
3. Georgia W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405;
4. State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China e-mail:
5. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China e-mail: