1. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada.
2. Institute of Biomaterials and Biomedical Engineering, Toronto, Ontario M5S 3G9, Canada.
3. Lunenfeld-Tanenbaum Research Institute, Mt. Sinai Hospital, Toronto, Ontario M5G 1X5, Canada.
4. Program in Developmental and Stem Cell Biology, The Hospital for Sick Children, Toronto, Ontario M5G 1X8, Canada.
5. HRG Central Institute of Robotics, HIT Robot Group, Harbin, Heilongjiang 150001, China.
6. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
7. Division of Orthopaedic Surgery, Hospital for Sick Children and University of Toronto, Toronto, Ontario M5G 1X8, Canada.
8. Department of Developmental Biology, Washington University School of Medicine, St. Louis, MO 63108, USA.
9. Department of Electrical and Computer Engineering, University of Toronto, Toronto, Ontario M5S 3G4, Canada.