1. Intelligent Robotics Institute, School of Mechatronical Engineering,
Beijing Institute of Technology, Beijing 100081, China.
2. Peking University First Hospital, Xicheng District, Beijing 100034, China.
3. Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education,
North University of China, Taiyuan 030051, China.
4. Beijing Advanced Innovation Center for Intelligent Robots and Systems,
Beijing Institute of Technology, Beijing 100081, China.
5. Laboratory for Translational Engineering,
Harvard Medical School, Cambridge, MA 02139, USA.
6. Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China.