1. Robotics Research Centre, School of Mechanical Engineering, Nanyang Technological University, Singapore
2. Centre for Advanced Rehabilitation Therapeutics, Tan Tock Seng Hospital Rehabilitation Centre, Singapore
3. Institute of Robotics and Intelligent System, ETH Zürich, Zürich, Switzerland
4. Institut für Technische Informatik (ZITI), Heidelberg University, Heidelberg, Germany
5. Department of Mechanical Engineering, Katholieke Universiteit (KU) Leuven, Ghent, Belgium