1. Department of Bioengineering, Imperial College London, London SW7 2AZ, UK
2. Skeletal Biology Group, The Royal Veterinary College, Royal College Street, London NW1 0TU, UK
3. Jockey Club College of Veterinary Medicine and Life Sciences, City University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong
4. Structure and Motion Laboratory, The Royal Veterinary College, North Mymms, Hatfield, Hertfordshire AL9 7TA, UK
5. Department of Mechanical and Industrial Engineering, Northeastern University, 334 Snell Engineering Center, 360 Huntington Avenue, Boston, MA 02115, USA