1 The Institute of Advanced Biomedical Engineering System, School of Life Science, Beijing Institute of Technology, No. 5, Zhongguancun South Street, Haidian District, 100081 Beijing, China.
2 Kagoshima University, Kagoshima, Japan.
3 Khalifa University Center for Autonomous Robotics Systems and Department of Mechanical Engineering, Khalifa University of Science and Technology, PO Box, 127788 Abu Dhabi, UAE.