1. Department of Electrical and Computer Engineering, Faculty of Engineering, University of Alberta, Edmonton, AB T6G 1H9, Canada
2. Western Hand & Upper Limb Facility, Sturgeon Hospital, St. Albert, AB T8N 6C4, Canada
3. Division of Orthopaedic Surgery, Department of Surgery, Faculty of Medicine & Dentistry, University of Alberta, Edmonton, AB T6G 2R7, Canada
4. Walker Department of Mechanical Engineering and the Texas Robotics, University of Texas at Austin, Austin, TX 78712, USA