1. Department of Musculoskeletal Surgery, Imperial College London, Charing Cross Hospital, Fulham Palace Road, London W6 8RF, UK.
2. Department of Medical Physics & Bio-Engineering, Malet Place University College London, Gower Street, London WC1E 6BT, UK.
3. Department of Medical Physics, University College London Hospitals NHS Trust, 250 Euston Road, 1st Floor North Wing, London NW1 2PQ, UK.
4. Acrobot Company Limited, The Leathermarket, Weston Street, London SE1 3ER, UK.
5. Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, Mechanical Engineering, South Kensington Campus, London SW7 2AZ, UK.