1. The Centre for Biomedical Engineering, Institute of Orthopaedics and Musculo-Skeletal Science, University College London, Brockley Hill, Stanmore HA7 4LP, UK.
2. University College London the Royal Veterinary College Royal Veterinary College, Hawkhead Lane, North Mimms, Hertfordshire AL9 7TA, UK.
3. The Royal National Orthopaedic Hospital, Brockley Hill, Stanmore HA7 4LP, UK.