1. University of Shanghai for Science and Technology Institute of Rehabilitative Engineering & Technology, , Shanghai 200093 , China
2. McMaster University , 1280 Main Street, West, Hamilton, ON L8S 4L8 , Canada
3. Guilin University of Electronic Technology School of Arts and Design, , Guilin 541004 , China
4. York University Department of Mechanical Engineering;, Lassonde School of Engineering, , Toronto M3J 1P3 , Canada