1. The Key Laboratory of Biomedical Information Engineering of Ministry of Education, School of Life Science and Technology, Xi'an Jiaotong University, Xi'an 710049, China;
2. Bioinspired Engineering and Biomechanics Center, Xi'an Jiaotong University, Xi'an 710049, China
3. Department of Neurological Surgery, and School of Engineering, Washington University, St. Louis, MO 63110;
4. Department of Mechanical Engineering and Materials Science, Washington University, St. Louis, MO 63130
5. Bioinspired Engineering and Biomechanics Center, Xi'an Jiaotong University, Xi'an 710049, China e-mail: