1. Bone and Joint R&D Center, VA Palo Alto Health Care System, 3801 Miranda Avenue, Palo Alto, CA 94304, USA
2. Stanford University, Department of Bioengineering, Stanford, CA 94305, USA
3. Stanford University, Department of Mechanical Engineering, Stanford, CA 94305, USA
4. Columbia University, Department of Biomedical Engineering, New York, NY 10027, USA