¹Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China

²Laboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China

³Department of Rehabilitation Medicine, Ruijin Hospital, School of Medicine, Shanghai Jiao Tong University, Shanghai, China

⁴Center for Excellence in Brain Science and Intelligent Technology, Chinese Academy of Sciences, Shanghai, China

⁵School of Biological Science and Medical Engineering, Beihang University, Beijing, China

⁶Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, China

⁷i-lab, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou, China

⁸Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China