1. Advanced Innovation Center for Intelligent Robots and Systems,
Beijing Institute of Technology, Beijing 100081, China.
2. Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry,
Beijing Institute of Technology, Beijing 100081, China.
3. National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China.
4. Dyson School of Design Engineering,
Imperial College London, London, UK.
5. School of Medical Technology,
Beijing Institute of Technology, Beijing 100081, China.