1. Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA 92093 e-mail:
2. Pediatrics and Bioengineering, Stanford University, Stanford, CA 94305 e-mail:
3. Mechanical, Materials, and
Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616 e-mail:
4. INRIA Paris-Rocquencourt, 78153 Le Chesnay Cedex, France e-mail: