[1] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China
[3] City Univ Hong Kong, Dept Biomed Engn, Kowloon Tong, Hong Kong 999077, Peoples R China