Acknowledgement
This research was supported by the International Research & Development Program of the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (MEST) of Korea (2019K1A3A1A21031246). This research was also supported by the Korea Institute of Industrial Technology under the "Development of Soft Robotics Technology for Human-Robot Coexistence Care Robots program (Grant Number: KITECH EH210010).
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