1. Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
2. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada
3. Université Grenoble Alpes, CNRS, Grenoble INP, TIMA, 38000 Grenoble, France
4. Université Grenoble Alpes, CNRS, Grenoble INP, LMGP, 38000 Grenoble, France