1. Department of Mechatronics and Mechanical Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada e-mail:
2. Department of Mechatronics and Mechanical Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada;
3. Department of Mechanical Engineering, University of Waterloo, 200 University Avenue West, Waterloo, ON N2L 3G1, Canada e-mails: ;
4. Division of Orthopaedic Surgery, Department of Biomedical Engineering, Duke University, Box 90281, Durham, NC 27708-0281 e-mail: