1. Bechtel Marine Propulsion CorporationPittsburgh Pennsylvania USA
2. Iam RoboticsPittsburgh Pennsylvania USA
3. Department of Mechanical Engineering and Materials Science, 636 Benedum HallUniversity of PittsburghPittsburgh Pennsylvania15261 USA
4. Department of Physical Medicine and Rehabilitation ScienceUniversity of PittsburghPittsburgh Pennsylvania USA
5. Department of BioengineeringUniversity of PittsburghPittsburgh Pennsylvania USA