[1] Natl Univ Singapore, Dept Elect & Comp Engn, 4 Engn Dr 3, Singapore 117583, Singapore
[2] Natl Univ Singapore Suzhou Res Inst NUSRI, Suzhou Ind Pk, Suzhou 215123, Peoples R China
[3] Natl Univ Singapore, HiFES, Block E6 05-3,5 Engn Dr 1, Singapore 117608, Singapore
[4] Natl Univ Singapore, Ctr Intelligent Sensors & MEMS, Block E6 05-11,5 Engn Dr 1, Singapore 117608, Singapore
[5] Soochow Univ, Sch Mech & Elect Engn, Jiangsu Prov Key Lab Adv Robot, Suzhou 215123, Peoples R China
[6] Monash Univ, Dept Elect & Comp Syst Engn, 14 Alliance Lane, Clayton, Vic, Australia