* Corresponding authors

^a Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada
E-mail: xyliu@mie.utoronto.ca

^b School of Mechanical Engineering & Automation, Beihang University, No. 37 Xueyuan Road, Beijing, China
E-mail: s.luo@buaa.edu.cn

^c Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Montreal, QC H3A 0C3, Canada

^d Institute of Biomedical Engineering, University of Toronto, 164 College Street, Toronto, ON M5S 3G9, Canada