1. Autonomous Systems and Biomechatronics Laboratory (ASBLab), Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Rd, Toronto, ON M5S 3G8, Canada
2. Toronto Rehabilitation Institute, 550 University Ave, Toronto, ON M5G 2A2, Canada
3. Rotman Research Institute, Baycrest Health Sciences, 3560 Bathurst St, North York, ON M6A 2E1, Canada