1. Electrical and Computer Engineering, University of California San Diego, La Jolla, CA, USA.
2. Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada.
3. Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA.
4. School of Engineering and Materials Science, Queen Mary University of London, London, UK.
5. The BioRobotics Institute, Scuola Superiore Sant’Anna, Piazza Martiri della Libertà, Pisa, Italy.
6. Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
7. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
8. Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA.
9. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Boston, MA, USA.
10. Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA.
11. Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA.