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Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies, Hebei University of Technology, Tianjin 300401, PR China; Hebei Key Laboratory of Robot Sensing and Human-robot Interaction, Hebei University of Technology, Tianjin 300401, PR China; School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, PR China. Electronic address:

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