1. Department of Mechanical Engineering, University of Maryland, College Park, 2147 Glenn L. Martin Hall, College Park, MD, 20742, USA
2. Maryland Robotics Center, University of Maryland, College Park, MD, 20742, USA
3. Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA
4. Department of Mechanical and Industrial Engineering, University of Massachusetts Amherst, MA, 01003, USA
5. Fischell Department of Bioengineering, University of Maryland, College Park, MD, 20742, USA
6. Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD, 20742, USA