1. Weichai Global Axis Technology Co., Ltd., Tokyo 1070062, Japan
2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China
3. College of Mechanical Engineering, Saitama Institute of Technology, Saitama 3690293, Japan
4. Institute of Industrial Science, The University of Tokyo, Tokyo 1538505, Japan