1. Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill and North Carolina State University, Raleigh, NC 27695, USA
2. Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, Raleigh, NC 27695, USA
3. Department of Orthopaedics, University of North Carolina School of Medicine, Chapel Hill, NC 27599, USA
4. College of Engineering, University of Missouri, W1051 Thomas & Nell Lafferre Hall, Columbia, MO 65211, USA