1. Stryker Corporation, 4100 E. Milham Avenue, Kalamazoo, MI 49001 e-mail:
2. Mechanical Engineering, University of Michigan, 1031 H.H. Dow Building, 2350 Hayward Street, Ann Arbor, MI 48109 e-mail:
3. Mechanical Engineering, University of Michigan, 3001E EECS, 1301 Beal, Ann Arbor, MI 48109 e-mail: