1. Department of Mechanical Engineering, University of Sheffield, Sheffield S1 3JD, UK
2. INSIGNEO Institute for in Silico Medicine, Engineering Graduate School, University of Sheffield, Pam Liversidge Building, Mappin Street, Sheffield S1 3JD, UK e-mail:
3. Laboratorio di Tecnologia Medica, Istituto Ortopedico Rizzoli, Via di barbiano 1/10, Bologna 40136, Italy e-mail: