1 Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China; Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan.
2 School of Life Science, Beijing Institute of Technology, Beijing, China.
3 Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China.
4 School of Biomedical Engineering, Capital Medical University, Beijing, China.
5 Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China; International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China.
6 Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China; Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China.
7 Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China; Research and Educational Unit of Leaders for Integrated Medical System, Center for the Promotion of Interdisciplinary Education and Research, Kyoto University, Kyoto, Japan.
8 Advanced Research Institute for Multidisciplinary Science, Beijing Institute of Technology, Beijing, China.
9 School of Life Science, Beijing Institute of Technology, Beijing, China. Electronic address: yantianyi@bit.edu.cn.