1. Department of Mechanical Engineering; Katholieke Universiteit Leuven and Flanders Make; Celestijnenlaan 300B 3001 Leuven Belgium
2. Department of Mechanical Engineering; Ritsumeikan University; 1-1-1 Noji-higashi Kusatsu Shiga 525-8577 Japan
3. FIRST, Institute of Innovative Research; Tokyo Institute of Technology; 4259 Nagatsuta-cho Midori-ku Yokohama 226-8503 Japan
4. Institute for Manufacturing; Department of Engineering; University of Cambridge; 17 Charles Babbage Road Cambridge CB3 0FS UK