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