[1] School of Automation, Hangzhou Dianzi University, Zhejiang, Hangzhou
[2] Department of Biomedical Engineering, University of Miami, Coral Gables, FL
[3] Department of Rehabilitation, Medicine, Zhejiang Provincial People's Hospital, People's Hospital of Hangzhou Medical College, Zhejiang, Hangzhou
[4] International Joint Research Laboratory for Autonomous Robotic Systems, Zhejiang, Hangzhou