*Bangmeng WANG¹, Guoliang TAO¹ (1. State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University)

*Yuji Miyaki¹, Hideyuki Tsukagoshi¹ (1. Tokyo Institute of Technology)

*Longlong GAO¹, Xiaoyun FU², Baoren LI³ (1. FESTO Pneumatics Center, Huazhong University of Science & Technology, 2. Huazhong University of Science & Technology, 3. Huazhong University of Science & Technology)

*Takashi HASEGAWA¹, Takahiro KANNO², Kenji KAWASHIMA² (1. Graduate School of Medical and Dental Science, Tokyo Medical and Dental University , 2. Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University )

*Xin LI¹, Weijun Cheng¹, Xinying Huang^1,2 (1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, 2. Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong)