1. Department of Mechanical Engineering, University of Alberta, Edmonton T6G 1H9, AB, Canada e-mail:
2. Department of Mechanical Engineering, University of Alberta, Edmonton T6G 1H9, AB, Canada;
3. Glenrose Rehabilitation Hospital, Alberta Health Services, 10230 111 Avenue NW, Edmonton T5G 0B7, AB, Canada e-mail:
4. School of Physical & Occupational Therapy, McGill University, Montreal H3G 1Y5, QC, Canada e-mail:
5. Rehabilitation Engineering Laboratory, Lyndhurst Centre, Toronto Rehabilitation Institute–University Health Network, Toronto M4G 3V9, ON, Canada;
6. Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto M5S 3G9, ON, Canada e-mail: