As to the second comment, Ref. [34] has been new added in the reference list and the following sentence has been added at the end of the second paragraph of Introduction: "Ref. [34] made a robot using double-layer LEMs, which is driven by magnetic force. This paper further discussed how to adjust the motion by changing different parameters of the mechanism". The following sentence has been added at the end of Conclusion: "For future work we will develop variable stiffness techniques of this joint, and explore its application in a robot arm considering both kinetostatic and transient behaviors."
The flow of the paper or the organization of the paper has to be presented at the end of the introductory section.