1. Department ofElectrical & Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA
2. General Robotics, Automation, Sensing, & Perception (GRASP) Lab, University of Pennsylvania, Philadelphia, PA, USA
3. Department of Bioengineering, University of Pennsylvania, Philadelphia, PA, USA
4. Department of Physical Medicine and Rehabilitation, Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, USA