1Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130025 PR China
2Weihai Institute for Bionics-Jilin University, Weihai 264207 PR China
3School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025 PR China
4Orthopedics Department, Second Hospital of Jilin University, Changchun 130025 PR China