Dandan Wang^1,2This email address is being protected from spambots. You need JavaScript enabled to view it., Zhaokun Zhu³, Kaituo Tan¹, Hongjie Li⁴, and Liang Yu¹

¹School of Mechanical and Electrical Engineering, Huainan normal university, Huainan Anhui,P.R.China, 232038

²Human-computer collaborative robot Joint Laboratory of Anhui Province, Huainan Anhui,P.R.China, 232038

³School of Information Engineering, Zhengzhou Technology and Business University, Zhengzhou Henan,P.R.China,475000

⁴College of Electronic Information and Electrical Engineering, Anyang Institute Of Technology, Anyang Henan, P.R. China,455000

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