1. Manufacturing and Automation Laboratory, Department of Mechanical Engineering, Stony Brook University, Stony Brook 11790, NY e-mail:
2. Professor Rehabilitation Research and Movement Performance Laboratory, School of Health Technology and Management, Stony Brook University, Stony Brook 11794, NY e-mail:
3. Professor Manufacturing and Automation Laboratory, Department of Mechanical Engineering, Stony Brook University, Stony Brook 11790, NY e-mail: