1. Department of Biomedical Engineering, Duke University, Box 90281, Durham, NC 27708
2. Division of Orthopaedic Surgery, Department of Surgery, Duke University Medical Center, DUMC Box 3093, Durham, NC 27710
3. Department of Biomedical Engineering, Duke University, Box 90281, Durham, NC 27708 and Division of Orthopaedic Surgery, Department of Surgery, Duke University Medical Center, DUMC Box 3093, Durham, NC 27710