1. Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore 487372, Singapore e-mail:
2. Robotics Institute, School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200241, China e-mail:
3. Department of Mechanical Engineering and Robotics, Incheon National University, Incheon 22012, South Korea e-mail:
4. Science and Math Cluster and Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore 487372, Singapore e-mail:
5. Engineering Product Development Pillar and Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore 487372, Singapore e-mail:
6. Digital Manufacturing and Design Centre, Singapore University of Technology and Design, Singapore 487372, Singapore;
7. The G. W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 e-mail: