Acknowledgement
This research was supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea(HJ20C0058020020) This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government (MSIT) (No.20180014260041001) This study was conducted under the support of Korea Evaluation Institute of Industrial Technology with the financial support of the government (South Korean Ministry of Trade, Industry and Energy) in 2021" (No.10084565, Core Technology Development Project for the Robot Industry-Robot Product Technology in the Cooperation of Governmental Departments)
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