1. Edward P. Fitts Department of Industrial and Systems Engineering, North Carolina State University, 400 Daniels Hall, Raleigh, NC 27616 e-mail:
2. UNC/NCSU Joint Department of Biomedical Engineering, North Carolina State University, 4102C Engineering Building III, Raleigh, NC 27616 e-mail:
3. Edward P. Fitts Department of Industrial and Systems Engineering; UNC/NCSU Joint Department of Biomedical Engineering, North Carolina State University, 400 Daniels Hall, Raleigh, NC 27616 e-mail: