1. University of Waterloo,Department of Systems Design Engineering,Canada
2. Karlsruhe Institute of Technology (KIT), Institute of Anthropomatics and Robotics (IAR),Optimization and Biomechanics for Human-Centred Robotics, Karlsruhe, Germany and CERC Human-Centred Robotics and Machine Intelligence,Department of Systems Design Engineering, University of Waterloo,Waterloo,Canada