1. Rehabilitation Institute of Chicago, 345 E. Superior Street, Room 1406, Chicago, IL 60611, USA
2. Department of Automation, Hebei University of Technology, Tianjin 300401, China
3. Departments of Biomedical Engineering, Northwestern University, Chicago, IL 60611, USA
4. Departments of Orthopaedic Surgery, Northwestern University, Chicago, IL 60611, USA
5. Departments of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611, USA
6. Department of Orthopaedic Surgery, Northshore University HealthSystem, Evanston, IL 60201, USA