* Corresponding authors

^a Department of Biomedical Engineering, City University of Hong Kong, Hong Kong
E-mail: rhwlam@cityu.edu.hk
Fax: +852 3442 0172
Tel: +852 3442 8577

^b School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

^c Centre for Robotics and Automation, City University of Hong Kong, Hong Kong

^d Department of Economics and Finance, City University of Hong Kong, Hong Kong

^e Department of Architecture and Civil Engineering, City University of Hong Kong, Hong Kong

^f Centre for Biosystems, Neuroscience, and Nanotechnology, City University of Hong Kong, Hong Kong

^g City University of Hong Kong Shenzhen Research Institute, Shenzhen, China