Wenyi Xu,^1,* Weiya Xie,^1,* Dong Yu,¹ Haohan Sun,¹ Ying Gu,¹ Xingliang Tao,¹ Menglu Qian,¹ Liming Cheng,² Hao Wanghttps://orcid.org/0009-0002-1435-6684,^1,** Qian Cheng<sup>1,3,4,**

1</sup>Tongji University, Institute of Acoustics, School of Physics Science and Engineering, Shanghai, China (China)
²Tongji University, Key Laboratory of Spine and Spinal Cord Injury Repair and Regeneration of Ministry of Education, Shanghai, China (China)
³National Key Laboratory of Autonomous Intelligent Unmanned Systems, Shanghai, China (China)
⁴Frontiers Science Center for Intelligent Autonomous Systems, Ministry of Education, Shanghai, China (China)

^*These authors contributed equally to this paper.
^**Address all correspondence to Qian Cheng, q.cheng@tongji.edu.cn; Hao Wang, wanghao@tongji.edu.cn.