1. University Grenoble Alpes, CNRS, Grenoble INP, LMGP 1 , 38000 Grenoble, France
2. University Grenoble Alpes, CNRS, Grenoble INP, TIMA 2 , 38000 Grenoble, France
3. Department of Mechanical and Mechatronics Engineering, University of Waterloo 3 , Waterloo, Ontario N2L 3G1, Canada
4. Department of Systems Design Engineering, University of Waterloo 4 , Waterloo, Ontario N2L 3G1, Canada
5. IEMN, UMR CNRS 8520 5 , Av Poincarré - CS60069, 59652 Villeneuve d’Ascq Cedex, France