1. School of Mechanical Engineering, Hebei University of Technology , Tianjin 300401, China ; , Tianjin 300130, China ; , Tianjin 300130, China
2. Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education , Tianjin 300401, China ; , Tianjin 300130, China ; , Tianjin 300130, China
3. Hebei Province Key Laboratory of Robot Perception and Human–Machine Fusion , Tianjin 300401, China ; , Tianjin 300130, China ; , Tianjin 300130, China
4. School of Mechanical Engineering, Hebei University of Technology , Tianjin 300401, China