1. Department of Biomedical EngineeringCarnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA
2. Robotics InstituteCarnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA
3. Department of Mechanical EngineeringCarnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA
4. Department of Materials Science and EngineeringCarnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA