1. Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, , 135 Yaguan Road, Jinnan District, Tianjin 300354 , China
2. Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, , 135 Yaguan Road, Jinnan District, Tianjin 300350 , China
3. The First Hospital of Hebei Medical University Department of Foot and Ankle Surgery, , 89 Donggang Road, Yuhua District, Shijiazhuang, Hebei Province 050030 , China